Vehicle environment monitoring method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicle control, and provides a vehicle environment monitoring method and device, electronic equipment and a storage medium. According to the method, the shooting device on the vehicle is controlled to shoot according to the target sentry mode, so that the shooting device on the vehicle works according to the determined energy consumption, and the problem that the whole vehicle consumes large electric quantity when the vehicle is in the sentry mode due to the fact that the shooting device on the vehicle continuously works under full power and high energy consumption is avoided; according to the method, the target transmission link of the target sentry mode is determined, the monitoring data is subsequently transmitted through the target transmission link so as to store the monitoring data, the target transmission link is a transmission link which is determined according to the actual situation and conforms to the current situation of the vehicle, and the effect of reducing power consumption caused by monitoring data transmission is achieved; and the problem of high power consumption of the whole vehicle when the vehicle is in a sentry mode caused by continuously using a high-energy-consumption transmission link to transmit the monitoring data is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle environment monitoring method, device, electronic device and storage medium. 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 cameras installed around the vehicle body will automatically shoot the surroundings of the vehicle to improve the safety of the vehicle.

[0003] Since the cameras installed on the vehicle are always shooting when the vehicle is in the sentry mode, the power consumption of the vehicle in the sentry mode is relatively high. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a vehicle environment monitoring method, device, electronic device and storage medium to solve the problem in the prior art that the vehicle consumes a lot of power when it is in sentinel mode.

[0005] In a first aspect of an embodiment of the present application, a method for monitoring the environment of a vehicle is provided, the method comprising: when the vehicle is parked, obtaining a parking position of the vehicle; determining a target sentinel mode from a plurality of sentinel modes according to the parking position; determining a target transmission link of the target sentinel mode, monitoring the environment in which the vehicle is located according to the target sentinel mode to obtain monitoring data, and transmitting the monitoring data through the target transmission link to store the monitoring data.

[0006] According to a second aspect of an embodiment of the present application, a vehicle environment monitoring device is provided, the device comprising: a position module, configured to obtain a parking position of a vehicle when the vehicle is in a parked state; a sentinel module, configured to determine a target sentinel mode from a plurality of sentinel modes according to the parking position; a monitoring module, configured to determine a target transmission link of the target sentinel mode, monitor the environment in which the vehicle is located according to the target sentinel mode, obtain monitoring data, and transmit the monitoring data through the target transmission link to store the monitoring data.

[0007] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0008] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] Compared with the prior art, the embodiments of the present application have the following beneficial effects: when the vehicle is in a parked state, the method in the embodiments of the present application obtains the parking position of the vehicle; determines a target sentinel mode from a plurality of sentinel modes according to the parking position; determines a target transmission link of the target sentinel mode, monitors the environment of the vehicle according to the target sentinel mode, obtains monitoring data, and transmits the monitoring data through the target transmission link to store the monitoring data; different sentinel modes correspond to different shooting device control methods, and different shooting device control methods correspond to different energy consumptions; the shooting device on the vehicle is controlled to shoot according to the target sentinel mode , so that the camera on the vehicle works according to the determined energy consumption, avoiding the camera on the vehicle working continuously at full power and high energy consumption, resulting in the problem of large power consumption of the whole vehicle when the vehicle is in sentinel mode; determining the target transmission link of the target sentinel mode, and subsequently transmitting the monitoring data through the target transmission link to store the monitoring data. The target transmission link is determined according to the actual situation and is a transmission link that meets the current situation of the vehicle, so as to achieve the effect of reducing the power consumption caused by the transmission of monitoring data, and avoid the continuous use of high-energy consumption transmission links to transmit monitoring data, resulting in the problem of large power consumption of the whole vehicle when the vehicle is in sentinel mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 It is a flow chart of a vehicle environment monitoring method provided in an embodiment of the present application;

[0012] Figure 2 is a flow chart of another vehicle environment monitoring method provided in an embodiment of the present application;

[0013] Figure 3 is a flow chart of another vehicle environment monitoring method provided in an embodiment of the present application;

[0014] Figure 4 is a flow chart of another vehicle environment monitoring method provided in an embodiment of the present application;

[0015] Figure 5 It is a basic structural schematic diagram of a vehicle provided in an embodiment of the present application;

[0016] Figure 6is a flow chart of another optional vehicle environment monitoring method provided in an embodiment of the present application;

[0017] Figure 7 is a flow chart of another optional vehicle environment monitoring method provided in an embodiment of the present application;

[0018] Figure 8 is a schematic structural diagram of a vehicle environment monitoring device provided in an embodiment of the present application;

[0019] Fig. 9 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0021] A method and device for monitoring the environment of a vehicle according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0022] Figure 1 A vehicle environment monitoring method provided by an embodiment of the present application is as follows: Figure 1 As shown, the method includes:

[0023] S101. When the vehicle is in a parked state, obtaining a parking position of the vehicle;

[0024] S102, determining a target sentinel mode from a plurality of sentinel modes according to the parking position;

[0025] S103, determining a target transmission link of a target sentinel mode, monitoring the environment of the vehicle according to the target sentinel mode, obtaining monitoring data, and transmitting the monitoring data through the target transmission link to store the monitoring data.

[0026] It can be understood that the vehicle environmental monitoring method provided in this example is applied to vehicles, including vehicles with automatic driving or intelligent driving (including vehicles with passenger functions (such as cars, buses, large buses, minibuses, etc.), cargo vehicles (such as ordinary trucks, vans, trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, special structure trucks), special vehicles (such as logistics distribution vehicles, automatic guided transport vehicles AGV, patrol cars, cranes, cranes, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor washing vehicles, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.), vehicles with entertainment functions (such as entertainment vehicles, amusement park automatic driving devices, balance cars, etc.), rescue vehicles (such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.)), etc.

[0027] It is understandable that the above-mentioned vehicle is provided with at least one camera for photographing the environment in which the vehicle is located in sentinel mode. Since the cameras installed on the vehicle are always photographing when the vehicle is in sentinel mode, the power consumption of the vehicle in sentinel mode is relatively high. In this regard, in this embodiment, when the vehicle is parked, the parking position of the vehicle is obtained, so as to judge the situation around the vehicle based on the parking position, so as to clarify the scene in which the vehicle is currently located.

[0028] Continuing with the above example, the parking locations in this example include but are not limited to at least one of dedicated parking lots (open parking lots, indoor / underground parking lots), dedicated parking spaces with road markings, and parking locations in non-marked locations.

[0029] In some examples, the vehicle obtains initial positioning through the Global Navigation Satellite System (GNSS), and the Autonomous Driving Controller (ADC) fuses the initial positioning with the differential data of the vehicle-mounted communication device (T-Box) to perform fusion positioning, matches the fusion positioning result with the built-in high-precision map, and identifies the current parking position of the vehicle; in some examples, the ADC can also be responsible for subscribing to the navigation map position of the cockpit controller (Head Unit & Telemetry, HUT), and the current parking position of the vehicle is determined by coarse matching of the navigation map position and the fusion positioning result. In some examples, the ADC can also determine the current parking position of the vehicle in combination with the last captured image of the camera on the vehicle before parking; specifically, the visual slam map is constructed based on the image collected by the camera before parking, and the surrounding environment before locking the vehicle and powering off is identified, thereby determining the parking position.

[0030] In some examples, obtaining the parking position of the vehicle includes: obtaining the parking position of the vehicle when determining that the sentry mode of the vehicle is on; in some examples, if it is determined that the sentry mode of the vehicle is off, the parking position of the vehicle will not be obtained. It can be understood that the sentry mode can be triggered to turn on by a sentry mode triggering mechanism preset in the vehicle. For example, the sentry mode can be set to turn on automatically, so that the sentry mode is automatically turned on every time the vehicle is powered off and in a parked state; the above-mentioned sentry mode can also be controlled by the user whether to turn on the sentry mode. For example, the user can manually turn on the sentry mode through a soft switch on the HUT before getting off the vehicle, or manually choose to turn on the sentry mode on the mobile phone application (mobile phone → cloud →) after the user locks the vehicle.

[0031] It can be understood that multiple sentinel modes are pre-set in this example, and different parking positions correspond to different sentinel modes. Therefore, after obtaining the parking position of the vehicle, this example will determine the sentinel mode corresponding to the parking position from multiple sentinel modes, and use the sentinel mode corresponding to the parking position as the target sentinel mode.

[0032] Among them, different sentinel modes correspond to different shooting device control methods, and different shooting device control methods correspond to different energy consumption. The shooting device on the vehicle is controlled according to the target sentinel mode to perform shooting, so that the shooting device works according to the pre-set energy consumption, avoiding the shooting device on the vehicle from continuously working at full power and high energy consumption, resulting in high power consumption of the entire vehicle when the vehicle is in sentinel mode.

[0033] After determining the target sentinel mode, in order to further reduce the power consumption of the entire vehicle when the vehicle is in the sentinel mode, this example will also optimize the transmission link of the monitoring data obtained by monitoring the vehicle's environment in the sentinel mode; specifically, at least two transmission links are arranged in the vehicle, and the energy consumption corresponding to the two transmission links is different. This example will determine the target transmission link of the target sentinel mode from the at least two transmission links, and subsequently transmit the monitoring data through the target transmission link to store the monitoring data, thereby achieving the effect of reducing the power consumption caused by the transmission of monitoring data, and avoiding the problem of high power consumption of the entire vehicle when the vehicle is in the sentinel mode by only using high-energy consumption transmission links to transmit monitoring data.

[0034] According to the technical solution provided in the embodiment of the present application, when the vehicle is in a parked state, the parking position of the vehicle is obtained; a target sentinel mode is determined from a plurality of sentinel modes according to the parking position; a target transmission link of the target sentinel mode is determined, the environment of the vehicle is monitored according to the target sentinel mode to obtain monitoring data, and the monitoring data is transmitted through the target transmission link to store the monitoring data, different sentinel modes correspond to different shooting device control methods, and different shooting device control methods correspond to different energy consumptions, and the shooting device on the vehicle is controlled to shoot according to the target sentinel mode, so that the shooting device on the vehicle works according to the determined energy consumption, thereby avoiding the problem that the shooting device on the vehicle continues to work at full power and high energy consumption, resulting in a large amount of power consumption of the whole vehicle when the vehicle is in sentinel mode; a target transmission link of the target sentinel mode is determined, and the monitoring data is subsequently transmitted through the target transmission link to store the monitoring data, and the target transmission link is determined according to the actual situation and is a transmission link that meets the current situation of the vehicle, so as to achieve the effect of reducing the power consumption caused by the transmission of monitoring data, and avoiding the problem that the monitoring data is continuously transmitted using a high-energy consumption transmission link, resulting in a large amount of power consumption of the whole vehicle when the vehicle is in sentinel mode.

[0035] In some embodiments, Figure 2 As shown, a target sentinel mode is determined from a variety of sentinel modes according to the parking position, including:

[0036] S201, determining a target risk level corresponding to a parking position, and obtaining a correspondence between a preset risk level and a sentinel mode;

[0037] S202. Query the correspondence between the risk level and the sentinel mode according to the target risk level, and obtain the target sentinel mode corresponding to the target risk level.

[0038] It can be understood that different parking locations correspond to different risk levels. For example, taking the parking locations including special parking lots, special parking spaces with road markings, and parking locations at non-marked locations, the risk levels include: first risk level, second risk level and third risk level, among which the first risk level is lower than the second risk level, and the second risk level is lower than the third risk level.

[0039] Specifically, when a vehicle is parked in a dedicated parking lot, the speed of other vehicles, pedestrians, and obstacles in the dedicated parking lot is relatively slow, and the dedicated parking lot is usually equipped with cameras and other shooting devices, so the probability of damage to the vehicle in the dedicated parking lot is relatively small. Therefore, the dedicated parking lot corresponds to the first risk level; when a vehicle is parked in a dedicated parking space with road markings, there may be vehicles with faster speeds around the dedicated parking space with road markings, and the vehicle may be hit by obstacles. Therefore, the dedicated parking space with road markings corresponds to the second risk level; when a vehicle is parked in a parking position at a non-marked position, there are no safety measures such as monitoring at the non-marked position, resulting in a higher possibility of the vehicle being hit by obstacles. Therefore, the parking position at a non-marked position corresponds to the third risk level.

[0040] It can be understood that different risk levels correspond to different sentinel modes. For example, the sentinel mode corresponding to the first risk level is the first sentinel mode, the sentinel mode corresponding to the second risk level is the second sentinel mode, and the sentinel mode corresponding to the third risk level is the third sentinel mode. When the vehicle is in the first sentinel mode, the energy consumption of the camera on the vehicle is lower than the energy consumption of the camera on the vehicle when the vehicle is in the second sentinel mode, and when the vehicle is in the second sentinel mode, the energy consumption of the camera on the vehicle is lower than the energy consumption of the camera on the vehicle when the vehicle is in the third sentinel mode.

[0041] In some examples, after determining the target risk level, this example will query the correspondence between the risk level and the sentinel mode according to the target risk level, and obtain the target sentinel mode corresponding to the target risk level; illustratively, taking the target risk level as the first risk level as an example, after querying the correspondence between the risk level and the sentinel mode, the first sentinel mode can be obtained, and the first sentinel mode is used as the target sentinel mode.

[0042] In some examples, to account for the increased number of vehicles during commuting hours and the resulting risk of collisions, ADC sets the commuting hours of 7:00-9:00 and 17:00-19:00 from Monday to Saturday as risky periods based on the UTC time obtained by GNSS. The risk level corresponding to the vehicle's parking location will be automatically adjusted to the third risk level to ensure that data records during the commuting hours are complete.

[0043] According to the technical solution provided in the embodiment of the present application, the target risk level corresponding to the parking position is determined, and the correspondence between the pre-set risk level and the sentinel mode is obtained; the correspondence between the risk level and the sentinel mode is queried according to the target risk level, and the target sentinel mode corresponding to the target risk level is obtained, wherein, by determining the risk level of the parking position, and determining the corresponding target sentinel mode according to the determined target risk level, the determined target sentinel mode can meet the safety monitoring needs of the current parking position of the vehicle, while saving the energy consumption of the shooting device on the vehicle, avoiding the problem that the shooting device on the vehicle continues to work at full power and high energy consumption, resulting in high power consumption of the entire vehicle when the vehicle is in sentinel mode.

[0044] In some embodiments, taking the shooting device on the vehicle as a camera as an example, the first sentinel mode is to monitor the parking environment of the vehicle through a target camera, and after the monitoring time reaches a preset first monitoring time, the target camera is turned off, and the vibration level of the vehicle is monitored through a vibration sensing device. When the vibration level of the vehicle exceeds a preset vibration threshold, the target camera is restarted to monitor the parking environment of the vehicle.

[0045] It can be understood that when the parking position of the vehicle corresponds to the first risk level, since the probability of damage to the vehicle is low, it is only necessary to monitor the parking environment of the vehicle through the target camera at the beginning. When the monitoring time reaches the preset first monitoring time and it is confirmed that there are no other vehicles or obstacles approaching the current vehicle, the target camera can be turned off to save the energy consumption of the vehicle; it can be understood that if there are other vehicles or obstacles approaching the current vehicle, the timing will be restarted until the target camera is turned off after the monitoring time reaches the preset first monitoring time. In order to further ensure the safety of the vehicle, this example will also monitor the vibration level of the vehicle through a vibration sensing device. When the vibration level of the vehicle exceeds the preset vibration threshold, the target camera is restarted to monitor the parking environment of the vehicle, wherein the energy consumption of the vibration sensing device is lower than the energy consumption of the target camera, thereby saving the energy consumption of the vehicle. In some examples, it is also possible to directly turn off the target camera when the monitoring time reaches the preset first monitoring time.

[0046] Exemplarily, taking the case where a vehicle is parked in a dedicated parking lot and the first monitoring time is two hours, the target camera is used to continuously monitor the surrounding environment within two hours after the vehicle is parked. After two hours, the target camera monitoring is turned off, and only the inertial measurement unit (IMU) monitors the vibration of the vehicle. When the vibration level of the vehicle exceeds the preset vibration threshold, the MCU controls the power management chip to power the target camera (to start the target camera), and the monitoring data captured by the target camera is retained in the digital video recorder (DVR). It can be understood that the DVR is a small ECU hung under the HUT and has a large storage space (flash or SD card); in some examples, when the vibration level of the vehicle exceeds the preset vibration threshold, the vehicle's gateway (GW) can also control the vehicle's double flashes to flash and the horn to sound an alarm, and the vehicle's cloud (Telematics Service Provider, TSP) notifies the user's mobile phone of the alarm prompt.

[0047] In some embodiments, the second sentinel mode is to monitor the parking environment of the vehicle through a target camera, and after the monitoring time reaches a preset second monitoring time, the target camera is turned off, and obstacle monitoring is performed on a preset area through an obstacle detection device. If the obstacle monitoring result indicates that the contact probability value between any obstacle and the vehicle exceeds a preset probability threshold, the target camera is restarted to monitor the parking environment of the vehicle.

[0048] It can be understood that when the parking position of the vehicle corresponds to the second risk level, since the probability of damage to the vehicle is low, it is only necessary to monitor the parking environment of the vehicle through the target camera at the beginning. When the monitoring time reaches the preset second monitoring time and it is confirmed that there are no other vehicles or obstacles approaching the current vehicle, the target camera can be turned off to save the energy consumption of the vehicle; it can be understood that if there are other vehicles or obstacles approaching the current vehicle, the timing will be restarted until the target camera is turned off after the monitoring time reaches the preset first monitoring time. In order to further ensure the safety of the vehicle, this example will also monitor the preset area through the obstacle detection device, and the preset area is the area covered by the detection range of the obstacle detection device, wherein, if the obstacle monitoring result indicates that the contact probability value of any obstacle with the vehicle exceeds the preset probability threshold, the target camera is restarted to monitor the parking environment of the vehicle; specifically, if any obstacle exists in the detection area of ​​the obstacle detection device for more than 10 seconds, or the distance between any obstacle and the vehicle is less than 20 cm, it is confirmed that the obstacle monitoring result indicates that the contact probability value of any obstacle with the vehicle exceeds the preset probability threshold. The energy consumption of the obstacle detection device is lower than that of the target camera, thereby saving vehicle energy. In some examples, the target camera may be directly turned off when the monitoring time reaches a preset second monitoring time.

[0049] For example, taking a vehicle parked in a dedicated parking space marked on the road and the second monitoring time being two hours, the target camera is used to continuously monitor the surrounding environment within two hours after parking. The target camera is turned off after two hours, and the ultrasonic sensor (USS) installed on the vehicle tracks obstacles within the detection range. If any obstacle appears in the detection range for more than 10 seconds or any obstacle is less than 20 cm away from the vehicle, the MCU controls the power management chip to power the target camera, and the target camera starts to monitor the vehicle's environment and retains the monitoring data in the DVR. When the vibration threshold is exceeded, the GW controls the vehicle's double flashes to flash and the horn to sound an alarm, and the TSP notifies the user of the alarm prompt on the mobile phone.

[0050] In some embodiments, the third sentinel mode is to monitor the parking environment of the vehicle through a target camera, and after the monitoring time reaches a preset third monitoring time, adjust the shooting frame rate of the target camera to the first shooting frame rate; monitor the vibration level of the vehicle through a vibration sensing device, and when the vibration level of the vehicle exceeds a preset vibration threshold, adjust the shooting frame rate of the target camera to a second shooting frame rate, and the second shooting frame rate is higher than the first shooting frame rate.

[0051] It can be understood that when the parking position of the vehicle corresponds to the third risk level, the probability of damage to the vehicle is higher, so it is necessary to continuously monitor the parking environment of the vehicle through the target camera. At this time, the shooting frame rate of the target camera is the second shooting frame rate; in order to achieve the effect of saving the vehicle's energy consumption, this example will adjust the shooting frame rate of the target camera to the first shooting frame rate after the control time reaches the preset third monitoring time; and continue to monitor the vibration level of the vehicle through the vibration sensing device. When the vibration level of the vehicle exceeds the preset vibration threshold, the shooting frame rate of the target camera is adjusted to the second shooting frame rate.

[0052] For example, taking the parking position of a vehicle parked in a non-lined position as an example, in this example, the target camera is used for continuous monitoring, and the vibration level of the vehicle is used. When the IMU vibration alarm is not received, the turned-on target camera is reduced to the first shooting frame rate to provide a video stream to reduce power consumption. When the vibration level of the vehicle exceeds the preset vibration threshold, the frame rate of the target camera is adjusted to the second shooting frame rate. After the ADC notifies the DVR, the DVR slices the recorded monitoring data at the vibration moment, retains the video 30 seconds before and after the vibration moment, and controls the vehicle's double flashes to flash and the horn to sound an alarm when the vibration threshold is exceeded. The TSP notifies the user's mobile phone of the alarm prompt and sends the sliced ​​video to the user's mobile phone.

[0053] In some examples, such as Figure 3 As shown, before monitoring the environment of the vehicle according to the target sentinel mode, the method also includes:

[0054] S301, acquiring a parking image of the vehicle, and determining parking obstacles on four sides of the vehicle according to the parking image;

[0055] S302, determining the type of parking obstacles on each side of the vehicle and the distance between the parking obstacles and the vehicle;

[0056] S303: If the type of the parking obstacle on either side of the vehicle matches the type of the target obstacle, or the distance between the parking obstacle on either side of the vehicle and the vehicle exceeds a preset parking distance, the camera on either side of the vehicle is used as the target camera.

[0057] In order to further save power consumption when the vehicle is in sentry mode, this example will determine the target camera from multiple cameras and monitor the parking environment of the vehicle only through the target camera. Specifically, if the vehicle is parked against a wall, the side of the vehicle against the wall is a safe position, and no vehicles and / or other obstacles will cause damage to the current vehicle. In this case, only the camera on the side not against the wall needs to be used as the target camera, and the camera on the side against the wall does not need to work, thereby achieving the effect of saving energy consumption.

[0058] In order to determine the target camera, this example will obtain the parking image of the vehicle, determine the parking obstacles on the four sides of the vehicle based on the parking image, and determine the type of parking obstacles on each side of the vehicle and the distance between the parking obstacles and the vehicle. It can be understood that if one side of the vehicle is not a safe obstacle such as a wall, or the distance to the obstacle exceeds the preset parking distance, other obstacles can also approach the current vehicle from this side, causing damage to the current vehicle.

[0059] Therefore, this example will match the type of the parking obstacle on each side of the vehicle with the type of the target obstacle (the target obstacle is a non-safe obstacle). If the type of the parking obstacle on either side of the vehicle matches the type of the target obstacle, the obstacle on this side of the vehicle is not a safe obstacle. In this case, the camera on that side of the vehicle needs to be used as the target camera. In addition, this example will also compare the distance between the parking obstacle on either side of the vehicle and the vehicle with the preset parking distance. If the distance between the parking obstacle on either side of the vehicle and the vehicle exceeds the preset parking distance, other obstacles can also approach the current vehicle from that side, causing damage to the current vehicle. In this case, the camera on that side of the vehicle needs to be used as the target camera.

[0060] It can be understood that the above-mentioned target obstacle is a non-safe obstacle flexibly set by relevant personnel according to actual conditions, and the above-mentioned parking distance is a safe distance flexibly set by relevant personnel according to actual conditions. The value range of the above-mentioned parking distance is 20cm to 50cm. Preferably, the value range of the above-mentioned parking distance is 30cm.

[0061] Exemplarily, the ADC first determines the current parking position of the vehicle based on the position of the vehicle before the vehicle is electrically unlocked. Then, the boundary distance between the vehicle and the obstacle is determined based on the last parking image acquired before the vehicle is electrically unlocked and the obstacles / boundaries detected by the ultrasonic radar. According to the slam mapping results, if the parking position is against a wall on one side, two sides, or even three sides, and a certain policy identifies that the distance to the wall is less than 30cm, in order to save power consumption, the sentinel mode will not turn on the camera on the side that meets the setting, and the camera on the side that is not against the wall or the distance between the vehicle and the wall is not less than 30cm will be used as the target camera. Figure 5 As shown, the EMOS E524.17 protocol of the ultrasonic radar is used for obstacle detection. When the E521.42 request signal is received, the corresponding action is performed according to the type of request, such as obstacle distance measurement, measurement parameter configuration or diagnosis. E521.42: responsible for the conversion between DS I 3 protocol and SPI protocol.

[0062] In some examples, all cameras on the vehicle may also be used as target cameras.

[0063] According to the technical solution provided in the embodiment of the present application, a parking image of the vehicle is acquired, and parking obstacles on four sides of the vehicle are determined based on the parking image; the type of parking obstacles on each side of the vehicle and the distance between the parking obstacles and the vehicle are determined; if the type of parking obstacles on either side of the vehicle matches the type of target obstacles, or the distance between the parking obstacles on either side of the vehicle and the vehicle exceeds a preset parking distance, the camera on either side of the vehicle is used as the target camera. The above method realizes that the target camera can be determined from multiple cameras, and the parking environment of the vehicle is monitored only through the target camera, thereby saving the consumption of the sentinel mode while ensuring the monitoring of the environment in which the vehicle is located.

[0064] In some embodiments, Figure 4 As shown, determining the target transmission link of the target sentinel mode includes:

[0065] S401, determining connectivity between adjacent nodes of a first transmission link, and if any adjacent nodes of the first transmission link are successfully connected, taking the first transmission link as a target transmission link;

[0066] S402: If any adjacent node of the first transmission link fails to be connected, determine the connectivity between adjacent nodes of the second transmission link, and if any adjacent node of the second transmission link is successfully connected, use the second transmission link as the target transmission link.

[0067] Specifically, the vehicle includes a first transmission link and a second transmission link, such as Figure 5 As shown, the transmission nodes of the first transmission link include: a deserializer of the intelligent driving controller, a serializer of the intelligent driving controller, a deserializer of the cockpit controller, a serializer of the cockpit controller, and a storage device (exemplarily, the storage device is a DVR); the transmission nodes of the second transmission link include: a deserializer of the intelligent driving controller, a control chip of the intelligent driving controller, a gateway, a cockpit controller, and a storage device.

[0068] It can be understood that when the monitoring data is transmitted through the first transmission link to store the monitoring data, such as Figure 5 As shown, the target camera transmits the monitoring data to the deserializer of the intelligent driving controller through the serializer, the deserializer of the intelligent driving controller transmits the monitoring data to the serializer of the intelligent driving controller, the serializer of the intelligent driving controller transmits the monitoring data to the deserializer of the cockpit controller, the deserializer of the cockpit controller transmits the monitoring data to the serializer of the cockpit controller, and finally the serializer of the cockpit controller transmits the monitoring data to the storage device, wherein the serializer of the intelligent driving controller and the deserializer of the cockpit controller are connected through a coaxial cable.

[0069] In some examples, in sentinel mode, the ECUs in the above architecture diagram are divided into the same functional group according to local network management, so that only the ECUs in this functional group remain in an awake state after the vehicle is powered off to reduce the power consumption of this function.

[0070] When the monitoring data is transmitted via the second transmission link to store the monitoring data, such as Figure 5 As shown, the target camera transmits the monitoring data to the deserializer of the intelligent driving controller through the serializer, the deserializer of the intelligent driving controller transmits the monitoring data to the control chip of the intelligent driving controller, the control chip of the intelligent driving controller transmits the monitoring data to the gateway through Ethernet, the gateway transmits the monitoring data to the cockpit controller, and finally the serializer of the cockpit controller transmits the monitoring data to the storage device.

[0071] Among them, considering that the second transmission link contains nodes with high energy consumption such as the control chip and gateway of the intelligent driving controller, this example preferentially selects the first transmission link as the target transmission link to achieve the effect of saving the vehicle's energy consumption.

[0072] Specifically, this example first determines the connectivity between adjacent nodes of the first transmission link. If any adjacent nodes of the first transmission link are successfully connected, the first transmission link is used as the target transmission link. Exemplarily, when the ADC receives a sentinel mode start signal request, the system automatically performs a self-test on the first transmission link. During the self-test process, the connectivity between adjacent nodes of the first transmission link is determined by reading the fault status of each serializer.

[0073] In some examples, if any adjacent node of the first transmission link fails to connect, the connectivity between the adjacent nodes of the second transmission link is determined, and if any adjacent nodes of the second transmission link are successfully connected, the second transmission link is used as the target transmission link; the exemplary ADC performs ping detection on the DVR through the ICMP protocol to determine the connectivity between the adjacent nodes of the second transmission link.

[0074] According to the technical solution provided in the embodiment of the present application, the connectivity between adjacent nodes of the first transmission link is determined. If any adjacent nodes of the first transmission link are successfully connected, the first transmission link is used as the target transmission link. If any adjacent node of the first transmission link fails to be connected, the connectivity between adjacent nodes of the second transmission link is determined. If any adjacent nodes of the second transmission link are successfully connected, the second transmission link is used as the target transmission link. In this example, the first transmission link is preferentially selected as the target transmission link to achieve the effect of saving the energy consumption of the vehicle. When there is a fault in the first transmission link, the monitoring data is transmitted through the second transmission link to ensure the reliability of data storage.

[0075] In some embodiments, Figure 6 As shown, the target transmission link is the first transmission link; the monitoring data is transmitted through the target transmission link to store the monitoring data, including:

[0076] S601, transmitting monitoring data to a storage device through a first transmission link to store the monitoring data;

[0077] S602: If it is determined that a failure occurs in the first transmission link during the process of transmitting monitoring data through the first transmission link, the second transmission link is enabled;

[0078] S603: Transmit the monitoring data to a storage device via a second transmission link to store the monitoring data.

[0079] Specifically, when the first transmission link is the target transmission link, this example transmits the monitoring data to the storage device through the first transmission link to store the monitoring data.

[0080] It can be understood that in order to improve the reliability of data storage, this example will continuously monitor the connectivity of the first transmission link during the process of transmitting the monitoring data to the storage device through the first transmission link. If it is determined that the first transmission link fails during the process of transmitting the monitoring data through the first transmission link, the monitoring data will be transmitted to the storage device through the second transmission link to store the monitoring data.

[0081] According to the technical solution provided in the embodiment of the present application, the monitoring data is transmitted to the storage device via the first transmission link to store the monitoring data; if it is determined that the first transmission link fails during the process of transmitting the monitoring data via the first transmission link, the second transmission link is started; the monitoring data is transmitted to the storage device via the second transmission link to store the monitoring data. In this example, the first transmission link is preferentially selected as the target transmission link to achieve the effect of saving the energy consumption of the vehicle, and during the process of transmitting the monitoring data via the first transmission link, the first transmission link is continuously monitored. When there is a failure in the first transmission link, the monitoring data is transmitted via the second transmission link, thereby ensuring the reliability of data storage.

[0082] In some embodiments, during the process of starting the second transmission link, the method also includes: storing the monitoring data in a pre-set cache space. It can be understood that the second transmission link requires the ADC to start the control chip (SOC) of the intelligent driving controller, and the SOC starts slowly. In order to avoid the loss of video data during the startup of the second transmission link, the method will synchronously store the video data of the most recent 1 minute in a pre-set cache space after the deserializer of the ADC (exemplarily, the pre-set cache space is the flash of the ADC); exemplarily, in order to avoid the loss of monitoring data during the startup of the SOC, the system will synchronously store the video data of the most recent 1 minute in the flash after the deserializer of the ADC.

[0083] like Figure 7 As shown, the monitoring data is transmitted to the storage device through the second transmission link to store the monitoring data, including:

[0084] S701, acquiring monitoring data from a preset cache space, and transmitting the monitoring data to a storage device through a second transmission link to store the monitoring data;

[0085] S702: Transmit monitoring data obtained by monitoring the environment of the vehicle in the target sentinel mode through the second transmission link to store the monitoring data.

[0086] Specifically, after the SOC is normally turned on, the second transmission link is started, and the monitoring data obtained by monitoring the environment of the vehicle in the target sentinel mode is transmitted through the second transmission link to store the monitoring data.

[0087] In order to avoid the loss of monitoring data during the startup of the second transmission link, this example also obtains monitoring data from a pre-set cache space and transmits the monitoring data to a storage device via the second transmission link to store the monitoring data, thereby avoiding the loss of monitoring data during the startup of the second transmission link.

[0088] In some examples, in order to ensure the smoothness of monitoring data, the ADC system will obtain the stored monitoring data from the flash, and use the RTSP over TCP protocol to resume the transmission of monitoring data, starting from the frame number of the last frame of data sent before the switch. At the same time, the storage device will also reorganize and play the received data packets. For the discontinuity of the picture during the link switching process, the DVR uses the last frame of detection data received by the coaxial line based on the optical flow method to generate an intermediate frame by estimating the pixel movement speed between adjacent frames to avoid discontinuity of the picture during the switching process.

[0089] According to the technical solution provided in the embodiment of the present application, monitoring data is obtained from a pre-set cache space, and the monitoring data is transmitted to a storage device through a second transmission link to store the monitoring data; the monitoring data obtained by monitoring the vehicle's environment in target sentinel mode is transmitted through the second transmission link to store the monitoring data. In this example, the first transmission link is preferentially selected as the target transmission link to achieve the effect of saving the vehicle's energy consumption, and in the process of transmitting the monitoring data on the first transmission link, the first transmission link is continuously monitored. When there is a fault in the first transmission link, the monitoring data is transmitted through the second transmission link, thereby ensuring the reliability of data storage, and further obtaining the monitoring data from the pre-set cache space, thereby avoiding the loss of the monitoring data and ensuring the smoothness of the monitoring data.

[0090] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0091] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0092] This embodiment also provides a vehicle environment monitoring device, such as Figure 8 As shown, the device comprises:

[0093] The position module 801 is configured to obtain the parking position of the vehicle when the vehicle is in a parked state;

[0094] The sentinel module 802 is configured to determine a target sentinel mode from a plurality of sentinel modes according to a parking position;

[0095] The monitoring module 803 is configured to determine a target transmission link of a target sentinel mode, monitor the environment of the vehicle according to the target sentinel mode, obtain monitoring data, and transmit the monitoring data through the target transmission link to store the monitoring data.

[0096] In some examples, the sentinel module 802 is further configured to determine a target risk level corresponding to the parking location, and obtain a correspondence between a preset risk level and a sentinel mode; query the correspondence between the risk level and the sentinel mode according to the target risk level, and obtain a target sentinel mode corresponding to the target risk level.

[0097] In some examples, the risk levels include: a first risk level, a second risk level, and a third risk level. The sentinel mode corresponding to the first risk level is the first sentinel mode, the sentinel mode corresponding to the second risk level is the second sentinel mode, and the sentinel mode corresponding to the third risk level is the third sentinel mode; the first sentinel mode is to monitor the parking environment of the vehicle through a target camera, and after the monitoring time reaches a preset first monitoring time, turn off the target camera, and monitor the vibration level of the vehicle through a vibration sensing device. When the vibration level of the vehicle exceeds a preset vibration threshold, restart the target camera to monitor the parking environment of the vehicle; the second sentinel mode is to monitor the parking environment of the vehicle through a target camera, and during the monitoring When the second monitoring time is reached in advance, the target camera is turned off, and the preset area is monitored for obstacles through the obstacle detection device. If the obstacle monitoring result indicates that the contact probability value between any obstacle and the vehicle exceeds the preset probability threshold, the target camera is restarted to monitor the parking environment of the vehicle; the third sentinel mode is to monitor the parking environment of the vehicle through the target camera, and after the monitoring time reaches the preset third monitoring time, the shooting frame rate of the target camera is adjusted to the first shooting frame rate; the vibration level of the vehicle is monitored by the vibration sensing device. When the vibration level of the vehicle exceeds the preset vibration threshold, the shooting frame rate of the target camera is adjusted to the second shooting frame rate, and the second shooting frame rate is higher than the first shooting frame rate.

[0098] In some examples, the sentinel module 802 is further configured to acquire a parking image of the vehicle, determine parking obstacles on the four sides of the vehicle based on the parking image; determine the type of parking obstacles on each side of the vehicle and the distance between the parking obstacles and the vehicle; if the type of parking obstacles on either side of the vehicle matches the type of target obstacles, or the distance between the parking obstacles on either side of the vehicle and the vehicle exceeds a preset parking distance, the camera on either side of the vehicle is used as the target camera.

[0099] In some examples, the vehicle includes a first transmission link and a second transmission link, and the transmission nodes of the first transmission link include: a deserializer of the intelligent driving controller, a serializer of the intelligent driving controller, a deserializer of the cockpit controller, a serializer of the cockpit controller, and a storage device; the transmission nodes of the second transmission link include: a deserializer of the intelligent driving controller, a control chip of the intelligent driving controller, a gateway, a cockpit controller, and a storage device; the monitoring module 803 is also configured to determine the connectivity between adjacent nodes of the first transmission link. If any adjacent nodes of the first transmission link are successfully connected, the first transmission link is used as the target transmission link; if any adjacent node of the first transmission link fails to connect, the connectivity between adjacent nodes of the second transmission link is determined. If any adjacent nodes of the second transmission link are successfully connected, the second transmission link is used as the target transmission link.

[0100] In some examples, the target transmission link is a first transmission link; the sentinel module 802 is also configured to transmit monitoring data to a storage device via the first transmission link to store the monitoring data; if it is determined that the first transmission link fails during the transmission of the monitoring data via the first transmission link, the second transmission link is opened; and the monitoring data is transmitted to a storage device via the second transmission link to store the monitoring data.

[0101] In some examples, the sentinel module 802 is also configured to store the monitoring data in a pre-set cache space; obtain the monitoring data from the pre-set cache space, and transmit the monitoring data to a storage device via a second transmission link to store the monitoring data; receive the monitoring data obtained by monitoring the vehicle's environment in the target sentinel mode, and transmit the monitoring data obtained by monitoring the vehicle's environment in the target sentinel mode via the second transmission link to store the monitoring data.

[0102] According to the technical solution provided in the embodiment of the present application, the vehicle environment monitoring device provided in the embodiment obtains the parking position of the vehicle when the vehicle is in a parked state; determines a target sentinel mode from a plurality of sentinel modes according to the parking position; determines a target transmission link of the target sentinel mode, monitors the environment in which the vehicle is located according to the target sentinel mode, obtains monitoring data, and transmits the monitoring data through the target transmission link to store the monitoring data, different sentinel modes correspond to different shooting device control methods, different shooting device control methods correspond to different energy consumption, and the shooting device on the vehicle is controlled to shoot according to the target sentinel mode , so that the camera on the vehicle works according to the determined energy consumption, avoiding the camera on the vehicle working continuously at full power and high energy consumption, resulting in the problem of large power consumption of the whole vehicle when the vehicle is in sentinel mode; determining the target transmission link of the target sentinel mode, and subsequently transmitting the monitoring data through the target transmission link to store the monitoring data. The target transmission link is determined according to the actual situation and is a transmission link that meets the current situation of the vehicle, so as to achieve the effect of reducing the power consumption caused by the transmission of monitoring data, and avoid the continuous use of high-energy consumption transmission links to transmit monitoring data, resulting in the problem of large power consumption of the whole vehicle when the vehicle is in sentinel mode.

[0103] Fig. 9 Schematic diagram of an electronic device 9 provided in an embodiment of the present application. Fig. 9As shown, the electronic device 9 of this embodiment includes: a processor 901, a memory 902, and a computer program 903 stored in the memory 902 and executable on the processor 901. When the processor 901 executes the computer program 903, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 901 executes the computer program 903, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0104] The electronic device 9 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 9 may include, but is not limited to, a processor 901 and a memory 902. Those skilled in the art will appreciate that Fig. 9 The electronic device 9 is merely an example and does not limit the electronic device 9 , and may include more or less components than those shown in the figure, or different components.

[0105] The processor 901 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0106] The memory 902 may be an internal storage unit of the electronic device 9, for example, a hard disk or memory of the electronic device 9. The memory 902 may also be an external storage device of the electronic device 9, for example, a plug-in hard disk, a smart memory card (Smart Med ia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. equipped on the electronic device 9. The memory 902 may also include both an internal storage unit of the electronic device 9 and an external storage device. The memory 902 is used to store computer programs and other programs and data required by the electronic device.

[0107] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of regional requirements and patent practice. For example, in some areas, according to regional requirements and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0109] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle environment monitoring method, characterized in that: The method comprises: When the vehicle is in a parked state, obtaining a parking position of the vehicle; determining a target sentinel pattern from a plurality of sentinel patterns according to the parking position; A target transmission link of the target sentinel mode is determined, the environment of the vehicle is monitored according to the target sentinel mode to obtain monitoring data, and the monitoring data is transmitted through the target transmission link to store the monitoring data.

2. The method according to claim 1, characterized in that A target sentinel mode is determined from a plurality of sentinel modes according to the parking position, including: Determine the target risk level corresponding to the parking position, and obtain the correspondence between the preset risk level and the sentinel mode; The corresponding relationship between the risk level and the sentinel mode is queried according to the target risk level to obtain the target sentinel mode corresponding to the target risk level.

3. The method according to claim 2, characterized in that The risk levels include: a first risk level, a second risk level, and a third risk level. The correspondence between the pre-set risk levels and the sentinel mode includes: The sentinel mode corresponding to the first risk level is the first sentinel mode, the sentinel mode corresponding to the second risk level is the second sentinel mode, and the sentinel mode corresponding to the third risk level is the third sentinel mode; The first sentinel mode is to monitor the parking environment of the vehicle through a target camera, and after the monitoring time reaches a preset first monitoring time, turn off the target camera, and monitor the vibration level of the vehicle through a vibration sensing device. When the vibration level of the vehicle exceeds a preset vibration threshold, restart the target camera to monitor the parking environment of the vehicle; The second sentinel mode is to monitor the parking environment of the vehicle through the target camera, and after the monitoring time reaches a preset second monitoring time, turn off the target camera, and monitor obstacles in a preset area through an obstacle detection device, and if the obstacle monitoring result indicates that the contact probability value of any obstacle with the vehicle exceeds a preset probability threshold, restart the target camera to monitor the parking environment of the vehicle; The third sentinel mode is to monitor the parking environment of the vehicle through the target camera, and after the monitoring time reaches a preset third monitoring time, adjust the shooting frame rate of the target camera to the first shooting frame rate; monitor the vibration level of the vehicle through the vibration sensing device, and when the vibration level of the vehicle exceeds a preset vibration threshold, adjust the shooting frame rate of the target camera to a second shooting frame rate, and the second shooting frame rate is higher than the first shooting frame rate.

4. The method according to claim 3, characterized in that Before monitoring the environment of the vehicle according to the target sentinel mode, the method further includes: Acquire a parking image of the vehicle, and determine parking obstacles on four sides of the vehicle according to the parking image; determining the type of the parking obstacle on each side of the vehicle and the distance of the parking obstacle from the vehicle; If the type of the parking obstacle on either side of the vehicle matches the type of the target obstacle, or the distance between the parking obstacle on either side of the vehicle and the vehicle exceeds a preset parking distance, the camera on either side of the vehicle is used as the target camera.

5. The method according to claim 1, characterized in that The vehicle includes a first transmission link and a second transmission link, wherein the transmission nodes of the first transmission link include: a deserializer of an intelligent driving controller, a serializer of an intelligent driving controller, a deserializer of a cockpit controller, a serializer of a cockpit controller, and a storage device; the transmission nodes of the second transmission link include: a deserializer of an intelligent driving controller, a control chip of an intelligent driving controller, a gateway, a cockpit controller, and a storage device; determining a target transmission link of the target sentinel mode includes: Determine connectivity between adjacent nodes of the first transmission link, and if any adjacent nodes of the first transmission link are successfully connected, use the first transmission link as the target transmission link; If any adjacent node of the first transmission link fails to connect, the connectivity between adjacent nodes of the second transmission link is determined, and if any adjacent node of the second transmission link is successfully connected, the second transmission link is used as the target transmission link.

6. The method according to claim 5, characterized in that The target transmission link is the first transmission link; and the monitoring data is transmitted through the target transmission link to store the monitoring data, including: transmitting the monitoring data to the storage device through the first transmission link to store the monitoring data; If it is determined that a failure occurs on the first transmission link during the process of transmitting the monitoring data on the first transmission link, opening the second transmission link; The monitoring data is transmitted to the storage device via the second transmission link to store the monitoring data.

7. The method according to claim 6, characterized in that During the process of opening the second transmission link, the method further includes: storing the monitoring data in a pre-set cache space; Transmitting the monitoring data to the storage device through the second transmission link to store the monitoring data includes: Acquire monitoring data from the preset cache space, and transmit the monitoring data to the storage device through the second transmission link to store the monitoring data; The monitoring data obtained by monitoring the environment of the vehicle in the target sentinel mode is received, and the monitoring data obtained by monitoring the environment of the vehicle in the target sentinel mode is transmitted through the second transmission link to store the monitoring data.

8. A vehicle environment monitoring device, characterized in that: The device comprises: A position module, configured to obtain a parking position of the vehicle when the vehicle is in a parked state; a sentinel module configured to determine a target sentinel mode from a plurality of sentinel modes according to the parking position; The monitoring module is configured to determine a target transmission link of the target sentinel mode, monitor the environment of the vehicle according to the target sentinel mode, obtain monitoring data, and transmit the monitoring data through the target transmission link to store the monitoring data.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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