Vehicle control method and system, medium, computer equipment and vehicle

Abstract

The invention provides a vehicle control method and system, a medium, computer equipment and a vehicle. The method comprises the steps of dynamically obtaining a current sight drop point of a driver; determining a current sight gazing area of the driver based on the current sight drop point of the driver; dynamically acquiring information of the vehicle and information of a target object behind the vehicle; evaluating the current danger level of the own vehicle based on the information of the own vehicle and the information of the rear target object; performing fusion decision on the current sight gazing area and the current danger level of the driver to output a fusion decision instruction; and controlling a corresponding actuator based on the fused decision instruction. According to the invention, emergency braking beyond expectation of a driver can be avoided.

Description

Technical Field

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

[0002] At present, intelligent driving assistance functions are gradually becoming popular in passenger cars on the market, including rear traffic crossing reminder functions. Figure 1 A schematic diagram of a rearward traffic crossing reminder function is disclosed. Figure 1 As shown in the figure, the rear cross traffic warning function detects approaching targets through the millimeter-wave radar installed at the rear corner of the vehicle (referred to as "rear corner radar"). When it detects a moving object crossing from behind and there is a risk of collision with the vehicle, the rear cross traffic warning system will trigger an alarm to remind the driver. If the vehicle continues to reverse and a collision is about to occur, the rear cross traffic warning system will trigger emergency braking to avoid a collision.

[0003] When the driver slowly reverses in an environment with an unobstructed field of vision, he usually relies on the rearview mirror and panoramic images to monitor the environment behind the vehicle in real time. However, the rear traffic warning function cannot identify the driver's operating intention and can only make predictions based on the status of the vehicle and the target at that moment. When the rear traffic warning system predicts that the emergency braking conditions are met, it will brake the vehicle to a stop at a large deceleration. If this emergency braking is beyond the driver's expectations, that is, the driver has noticed the danger behind and is confident enough to control the vehicle to avoid collision but still triggers the emergency braking, it will cause the driver to feel uncomfortable and panic. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a vehicle control method, system, medium, computer device and vehicle, which can avoid emergency braking beyond the driver's expectation.

[0005] One aspect of an embodiment of the present application provides a vehicle control method. The method includes: dynamically acquiring the current sight point of the driver; determining the current sight area of ​​the driver based on the current sight point of the driver; dynamically acquiring the information of the vehicle and the information of the target behind the vehicle; evaluating the current danger level of the vehicle based on the information of the vehicle and the information of the target behind the vehicle; performing a fusion decision on the current sight area of ​​the driver and the current danger level to output a fusion decision instruction; and controlling the corresponding actuator based on the fusion decision instruction.

[0006] Furthermore, the information of the rear target includes the collision time when the own vehicle and the rear target reach the collision point, and the evaluating the current danger level of the own vehicle based on the information of the own vehicle and the information of the rear target includes: predicting the movement trajectory of the rear target based on the information of the rear target; determining a first intersection point and a second intersection point of the X-axis of two rear corner radars of the own vehicle and the movement trajectory of the rear target, wherein the X-axis is the longitudinal direction of the vehicle; and evaluating the current danger level of the own vehicle based on the position area of ​​the first intersection point and the second intersection point behind the own vehicle and the collision time.

[0007] Furthermore, the evaluating the current danger level of the own vehicle based on the positions of the first intersection and the second intersection behind the own vehicle and the collision time includes: pre-setting a plurality of distances of the own vehicle for a rear traffic crossing reminder function; and evaluating the current danger level of the own vehicle based on the corresponding position areas in which the first intersection and the second intersection respectively fall within the plurality of distances and the collision time.

[0008] Further, the multiple distances include a vertical warning distance, a vertical braking distance and a vertical forward distance, the vertical warning distance being a distance of a first length extending from the intersection of the X-axis of the rear corner radar of the vehicle and the rear bumper to the longitudinal rear of the vehicle; the vertical braking distance being a distance of a second length extending from the intersection of the X-axis of the rear corner radar of the vehicle and the rear bumper to the longitudinal rear of the vehicle, and the vertical forward distance being a distance of a third length extending from the intersection of the X-axis of the rear corner radar of the vehicle and the rear bumper to the longitudinal front of the vehicle, wherein the first length is greater than the third length, and the third length is greater than the second length, and the evaluating the current danger level of the vehicle based on the corresponding position areas where the first intersection and the second intersection fall in the multiple distances and the collision time respectively includes: evaluating the current danger level of the vehicle based on the corresponding position areas where the first intersection and the second intersection fall in the vertical warning distance, the vertical braking distance and the vertical forward distance and the collision time respectively.

[0009] Further, the current danger level of the vehicle is evaluated based on the corresponding position areas where the first intersection and the second intersection respectively fall in the vertical warning distance, the vertical braking distance and the vertical forward distance and the collision time, including: when any one of the first intersection and the second intersection is located between the vertical warning distance and the vertical forward distance, and the collision time is within a first time range, the current danger level of the vehicle is determined to be a first-level danger level; when any one of the first intersection and the second intersection is located between the vertical braking distance and the vertical forward distance, and the collision time is within a second time range, the current danger level of the vehicle is determined to be a second-level danger level, wherein the collision time within the second time range is shorter than the collision time within the first time range, and the danger level of the second-level danger level is higher than the first-level danger level; when the collision time is within a third time range, it is determined that the vehicle is not in danger, wherein the collision time within the third time range is longer than the collision time within the first time range.

[0010] Furthermore, the method also includes: dividing the driver's line of sight into multiple line of sight areas in advance according to the 3D digital model of the vehicle interior; setting corresponding duration thresholds for the multiple line of sight areas, respectively, wherein determining the driver's current line of sight area based on the driver's current line of sight includes: when the driver's line of sight falls on a certain line of sight area among the multiple line of sight areas and continues to reach the corresponding duration threshold, determining the line of sight area as the driver's current line of sight area.

[0011] Furthermore, the line of sight attention area includes a left rearview mirror area, a right rearview mirror area, an inner rearview mirror area, a central control screen area displaying a panoramic image and other areas, and the other areas include areas other than the left rearview mirror area, the right rearview mirror area, the inner rearview mirror area and the central control screen area, wherein the fusion decision of the driver's current line of sight attention area and the current danger level to output a fusion decision instruction includes: when the driver's current line of sight attention area is the other area and the current danger level is a secondary danger level, the output fusion decision instruction is a braking instruction, and controlling the corresponding actuator based on the fusion decision instruction includes: triggering the braking actuator to perform braking based on the braking instruction.

[0012] Furthermore, the fusion decision of the driver's current line of sight area and the current danger level to output a fusion decision instruction also includes: when the driver's current line of sight area is the left rearview mirror area, the right rearview mirror area, the inner rearview mirror area and the central control screen area, and the current danger level is the second level danger level, or when the current danger level is the first level danger level, the output fusion decision instruction is an alarm instruction, and controlling the corresponding actuator based on the fusion decision instruction includes: triggering the alarm actuator to execute an alarm based on the alarm instruction.

[0013] Another aspect of an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle control method as described above are implemented.

[0014] Another aspect of an embodiment of the present application further provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the vehicle control method as described above.

[0015] Another aspect of the embodiment of the present application also provides a vehicle control system. The vehicle control system includes a driver state monitoring system, a rear corner radar, a driver intention recognition module, a danger level assessment module, a decision module and a control module. The driver state monitoring system is used to dynamically obtain the driver's current line of sight point; the rear corner radar is used to obtain information about the target behind the vehicle; the driver intention recognition module is used to determine the driver's current line of sight area based on the driver's current line of sight point; the danger level assessment module is used to assess the current danger level of the vehicle based on the information of the vehicle and the information of the target behind; the decision module is used to make a fusion decision on the driver's current line of sight area and the current danger level to output a fusion decision instruction; the control module is used to control the corresponding actuator based on the fusion decision instruction.

[0016] Another aspect of the embodiment of the present application further provides a vehicle, wherein the vehicle includes the vehicle control system as described above.

[0017] The vehicle control method, system, medium, computer device and vehicle of one or more embodiments of the present application dynamically obtain the driver's current line of sight to determine the driver's current gaze area, and then identify the driver's operating intention based on the driver's current line of sight, and make a fusion decision based on the driver's operating intention and the current danger level of the vehicle, and finally control the corresponding actuator to operate according to the output fusion decision instruction, thereby avoiding emergency braking beyond the driver's expectations and unnecessary panic for the driver, thereby ensuring the safety of the vehicle while improving the driver's driving comfort and experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a rearward traffic crossing reminder function.

[0019] Figure 2 This is a flow chart of a vehicle control method according to an embodiment of the present application.

[0020] Figure 3 This is a schematic diagram of evaluating the current danger level of a vehicle based on information of the vehicle and information of a target behind the vehicle according to an embodiment of the present application.

[0021] Figure 4 This is a schematic diagram of setting a rearward traffic crossing reminder function from behind a vehicle according to an embodiment of the present application.

[0022] Figure 5 The present invention is a schematic block diagram of a computer device according to an embodiment of the present invention.

[0023] Figure 6 A schematic block diagram of a vehicle control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0025] The vehicle control method, system, medium, computer device and vehicle of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0026] Figure 2 A flow chart of a vehicle control method according to an embodiment of the present application is disclosed. Figure 2As shown, a vehicle control method according to an embodiment of the present application may include steps S11 to S12.

[0027] In step S11, the current sight point of the driver is dynamically acquired.

[0028] The driver's current sight point and duration can be dynamically obtained through the vehicle's driver status monitoring system (DMS). The driver status monitoring system can capture the driver's eye position and accurately calculate the driver's current sight point based on the driver's eye characteristics.

[0029] In step S12, the driver's current sight area may be determined based on the driver's current sight point acquired in step S11.

[0030] In some embodiments, the vehicle control method of the present application may further include step S21 and step S22.

[0031] In step S21, the driver's sight point may be divided into a plurality of sight fixation areas in advance according to the 3D digital model of the vehicle interior.

[0032] In step S22, corresponding duration thresholds are set for each of the plurality of gaze fixation areas.

[0033] The driver's gaze area will be continuously updated according to the driver's gaze point. The time of each gaze area update is recorded as T n , the next update time is recorded as T n+1 , through T n+1 -T n =ΔT can represent the duration of the driver's gaze at the area. Corresponding duration thresholds can be set in advance for different gaze areas.

[0034] When the driver's gaze falls on a certain gaze area among multiple gaze areas and continues to reach a corresponding time threshold, it can be considered that the driver is continuously looking at the area. Therefore, it can be determined that the gaze area is the driver's current gaze area.

[0035] Optionally, the line of sight area may include, but is not limited to, a left rearview mirror area, a right rearview mirror area, an inner rearview mirror area, a central control screen area displaying a panoramic image, and other areas, wherein other areas refer to areas other than the left rearview mirror area, the right rearview mirror area, the inner rearview mirror area, and the central control screen area.

[0036] Table 1 below gives an example table of duration thresholds set for various gaze fixation areas.

[0037]

[0038] The duration threshold ΔT in the above table can be determined by pre-calibration.

[0039] It is understandable that the various sight-gaze areas set above are only an illustrative example of the division of the position of the driver's sight point in the present application. However, the division of the position of the driver's sight point in the present application is not limited to the various sight-gaze areas set above, and can be reasonably set in advance according to the needs of the actual application scenario. In addition, the corresponding time thresholds set for each sight-gaze area in the present application are not limited to the specific values ​​in Table 1 above.

[0040] Continue to return to reference Figure 2 In step S13, the information of the vehicle and the target object behind the vehicle are dynamically acquired.

[0041] The vehicle information may include, but is not limited to, the vehicle gear position and vehicle speed information.

[0042] The information of the target behind the vehicle can be dynamically acquired through the rear corner radar of the vehicle. The information of the target behind the vehicle may include, but is not limited to, multiple of the following information: the lateral speed Obj1LatSpd of the target, the longitudinal speed Obj1LgtSpd of the target, the lateral distance Obj1LatDis of the target, the longitudinal distance Obj1LgtDis of the target, the type Obj1Type of the target, the collision time TTC between the vehicle and the target behind the vehicle and the collision point, etc.

[0043] In step S14 , the current risk level of the own vehicle may be evaluated based on the information of the own vehicle and the information of the rear target object obtained in step S13 .

[0044] The following will be combined Figure 3 and Figure 4 The following describes in detail how the present application evaluates the current danger level of the vehicle based on the information of the vehicle and the information of the target object behind.

[0045] Figure 3 The present invention discloses a schematic diagram of evaluating the current danger level of a vehicle based on information of the vehicle and information of a target behind the vehicle according to an embodiment of the present invention. Figure 3 As shown, in some embodiments, step S14 may further include steps S141 to S142.

[0046] In step S141 , the movement track of the rear target object may be predicted based on the information of the rear target object.

[0047] For example, the movement track of the target object behind may be predicted according to the lateral speed Obj1LatSpd of the target object, the longitudinal speed Obj1LgtSpd of the target object, the lateral distance Obj1LatDis of the target object, and the longitudinal distance Obj1LgtDis of the target object.

[0048] In step S142, the two rear corner radars 602 of the vehicle are determined. Figure 4 The first intersection point and the second intersection point of the X-axis of the vehicle (as shown) with the trajectory of the target object behind, wherein the X-axis refers to the longitudinal direction of the vehicle.

[0049] Figure 4 A schematic diagram of setting a function for reminding rearward traffic to pass behind a vehicle according to an embodiment of the present application is disclosed. Figure 4 As shown, the X-axis of the two rear corner radars 602 of the vehicle and the trajectory of the rear target have two intersection points, namely the first intersection point and the second intersection point. The first intersection point can be called the "entry point" and the second intersection point can be called the "exit point".

[0050] In step S143 , the current risk level of the own vehicle is evaluated based on the position area where the first intersection point and the second intersection point are located behind the own vehicle and the collision time TTC.

[0051] Continue to refer to Figure 4 As shown, multiple distances for the rear traffic crossing reminder function of the vehicle can be pre-set, and then the current danger level of the vehicle can be evaluated based on the corresponding position areas where the first intersection point (entry point Entry_point) and the second intersection point (exit point Exit_point) fall in the multiple distances and the collision time TTC.

[0052] Optionally, the multiple distances may include, for example, but are not limited to, a vertical warning distance D1, a vertical braking distance D2, and a vertical forward distance D3.

[0053] The vertical warning distance D1 refers to a distance extending for a first length from the intersection of the X-axis of the rear corner radar 602 of the vehicle and the rear bumper to the longitudinal rear of the vehicle (ie, in the positive direction of the X-axis).

[0054] The vertical braking distance D2 refers to a distance extending from the intersection of the X-axis of the rear corner radar 602 of the vehicle and the rear bumper to the longitudinal rear of the vehicle (ie, in the positive direction of the X-axis) for a third length.

[0055] The vertical forward distance D3 refers to the distance extending from the intersection of the X-axis of the rear corner radar 602 of the vehicle and the rear bumper to the longitudinal front of the vehicle (ie, to the negative direction of the X-axis) by the second length. The first length is greater than the third length, and the third length is greater than the second length.

[0056] For example, the vertical warning distance D1 can start from the intersection of the X-axis of the rear corner radar 602 of the vehicle and the rear bumper, and extend 4m (meters) in the positive direction of the X-axis; the vertical braking distance D2 can start from the intersection of the X-axis of the rear corner radar 602 of the vehicle and the rear bumper, and extend 1m in the positive direction of the X-axis; the vertical forward distance D3 can start from the intersection of the X-axis of the rear corner radar 602 of the vehicle and the rear bumper, and extend 2m in the negative direction of the X-axis.

[0057] Therefore, evaluating the current danger level of the vehicle based on the corresponding position areas and collision time TTC in which the first intersection and the second intersection fall in multiple distances respectively may include: evaluating the current danger level of the vehicle based on the corresponding position areas and collision time TTC in which the first intersection and the second intersection fall in the vertical warning distance D1, the vertical braking distance D2 and the vertical forward distance D3 respectively.

[0058] In some embodiments, when any one of the first intersection point (entry point Entry_point) and the second intersection point (exit point Exit_point) is between the vertical warning distance D1 and the vertical forward distance D3, and the collision time TTC is within the first time range, it is determined that the current danger level of the vehicle is a first-level danger level.

[0059] When any one of the first intersection point (entry point Entry_point) and the second intersection point (exit point Exit_point) is between the vertical braking distance D2 and the vertical forward distance D3, and the collision time TTC is within the second time range, it is determined that the current danger level of the vehicle is the second danger level, wherein the collision time TTC within the second time range is shorter than the collision time TTC within the first time range, and the danger level of the second danger level is higher than that of the first danger level.

[0060] When the collision time TTC is within the third time range, it is determined that the vehicle is not in danger, wherein the collision time TTC within the third time range is longer than the collision time TTC within the first time range.

[0061] For example, when any intersection of the entry point Entry_point and the exit point Exit_point is between the vertical warning distance D1 and the vertical forward distance D3, and the collision time TTC satisfies 1.1s<TTC≤3s, the vehicle is judged to be in the first level of danger. When any intersection of the entry point Entry_point and the exit point Exit_point is between the vertical braking distance D2 and the vertical forward distance D3, and the collision time TTC satisfies TTC≤1.1s, the vehicle is judged to be in the second level of danger. When the collision time TTC satisfies TTC>3s, the vehicle is judged to be free of danger.

[0062] Continue to return Figure 2In step S15, a fusion decision is made on the driver's current visual gaze area determined in step S12 and the current danger level determined in step S14, thereby finally outputting a fusion decision instruction.

[0063] The following Table 2 gives an example table of fusion decision instructions output after a fusion decision is made on the driver's current gaze area and current danger level according to an embodiment of the present application.

[0064]

[0065]

[0066] According to Table 2 above, it can be concluded that when the driver's current sight area is other areas (meaning that the driver is not aware of the risk of rear traffic passing through), and the current danger level is the second level danger level, the output fusion decision instruction is a braking instruction; when the driver's current sight area is the left rearview mirror area, the right rearview mirror area, the inner rearview mirror area and the central control screen area (meaning that the driver has realized the risk of rear traffic passing through and will take corresponding measures), and the current danger level is the second level danger level, the output fusion decision instruction is an alarm instruction. If the current danger level is the first level danger level, no matter which sight area the current sight area is, the output fusion decision instruction is an alarm instruction. If there is no danger at present, no matter which sight area the current sight area is, the output fusion decision instruction is no instruction, that is, there is no need to trigger the rear traffic passing reminder function.

[0067] In step S16, the corresponding actuator 607 is controlled based on the fusion decision instruction output in step S15.

[0068] When the output fusion decision instruction is a braking instruction, the braking actuator can be triggered to perform braking based on the braking instruction. When the output fusion decision instruction is an alarm instruction, the alarm actuator can be triggered to perform alarm based on the alarm instruction.

[0069] The present application determines the driver's current gaze area by capturing the driver's line of sight, and then identifies the driver's operating intention based on the driver's current gaze area. When it is identified based on the driver's operating intention that the driver has realized the danger of rear traffic crossing the vehicle and will actively take corresponding measures to control the vehicle to avoid a collision, at this time, even if the current danger level of the vehicle is high, the present application will not trigger the emergency braking function, but only trigger the alarm function, thereby avoiding the panic caused to the driver by emergency braking beyond the driver's expectations.

[0070] Of course, when it is identified based on the driver's current line of sight that the driver is unaware of the danger of traffic crossing behind the vehicle and takes corresponding measures, at this time, if the vehicle's current danger level is high and the vehicle is in great danger, this application will trigger the emergency braking function and immediately apply emergency braking to the vehicle to avoid a collision.

[0071] The vehicle control method of the present application determines the driver's current gaze area by dynamically acquiring the driver's current line of sight, and then identifies the driver's operating intention based on the driver's current line of sight area, and makes a fusion decision based on the driver's operating intention and the current danger level of the vehicle, and finally controls the corresponding actuator to operate according to the output fusion decision instruction, thereby avoiding emergency braking beyond the driver's expectations and unnecessary panic for the driver, thereby ensuring the safety of the vehicle while improving the driver's driving comfort and experience.

[0072] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0073] The present application also provides a computer device. Figure 5 A schematic block diagram of a computer device 500 according to an embodiment of the present application is disclosed. Figure 5 As shown, a computer device 500 of an embodiment of the present application includes a processor 501, an internal bus 502, a network interface 503, a memory 504, and a non-volatile memory 505, and may also include hardware required for other services. The processor 501 can read the corresponding computer program from the non-volatile memory 505 into the memory 504 and then run it to implement the steps of the vehicle control method as described above. Of course, in addition to the software implementation, the present application does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic components.

[0074] The present application also provides a vehicle control system. Figure 6 A schematic block diagram of a vehicle control system 600 according to an embodiment of the present application is disclosed. Figure 6As shown, a vehicle control system of an embodiment of the present application may include a driver state monitoring system 601, a rear corner radar 602, a driver intention recognition module 603, a danger level assessment module 604, a decision module 605 and a control module 606. The driver state monitoring system 601 can dynamically obtain the driver's current sight point. The rear corner radar 602 can obtain information about the target behind the vehicle. The driver intention recognition module 603 can determine the driver's current sight area based on the driver's current sight point. The danger level assessment module 604 can assess the current danger level of the vehicle based on the information of the vehicle and the information of the target behind. The decision module 605 can perform a fusion decision on the driver's current sight area determined by the driver intention recognition module 603 and the current danger level assessed by the danger level assessment module 604 to output a fusion decision instruction. The control module 606 can control the corresponding actuator 607 based on the fusion decision instruction output by the decision module 605.

[0075] The vehicle control system 600 of the present application can have beneficial technical effects similar to those of the vehicle control method described above, so they will not be described in detail here.

[0076] The present application also provides a vehicle, which includes the vehicle control system 600 described above.

[0077] The vehicle control method, system, medium, computer device and vehicle provided in the embodiments of the present application are introduced in detail above. Specific examples are used herein to illustrate the vehicle control method, system, medium, computer device and vehicle in the embodiments of the present application. The description of the above embodiments is only used to help understand the core idea of ​​the present application and is not intended to limit the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the spirit and principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications should also fall within the scope of protection of the claims attached to the present application.

Claims

1. A vehicle control method, characterized in that: include: Dynamically obtain the driver's current sight point; Determining the driver's current sight area based on the driver's current sight point; Dynamically obtain information about the vehicle and the target behind the vehicle; evaluating a current danger level of the vehicle based on the information of the vehicle and the information of the rear target; Performing a fusion decision on the driver's current sight line area and the current danger level to output a fusion decision instruction; The corresponding actuator is controlled based on the fusion decision instruction.

2. The method according to claim 1, characterized in that The information of the rear target object includes the collision time when the vehicle and the rear target object reach a collision point. The current danger level of the vehicle is evaluated based on the information of the vehicle and the information of the rear target object, including: Predicting a movement trajectory of the rear target object based on information of the rear target object; Determine a first intersection point and a second intersection point of the X-axis of two rear corner radars of the vehicle and the trajectory of the rear target, wherein the X-axis is the longitudinal direction of the vehicle; The current risk level of the own vehicle is evaluated based on the position area where the first intersection point and the second intersection point are located behind the own vehicle and the collision time.

3. The method according to claim 2, characterized in that The evaluating the current danger level of the vehicle based on the positions of the first intersection point and the second intersection point behind the vehicle and the collision time includes: Preset multiple distances for the vehicle to use for the rear traffic crossing reminder function; The current danger level of the vehicle is evaluated based on corresponding position areas where the first intersection point and the second intersection point fall within the plurality of distances and the collision time.

4. The method according to claim 3, characterized in that The multiple distances include a vertical warning distance, a vertical braking distance and a vertical forward distance, wherein the vertical warning distance is a distance extending a first length from the intersection of the X-axis of the rear corner radar of the vehicle and the rear bumper to the longitudinal rear of the vehicle; the vertical braking distance is a distance extending a second length from the intersection of the X-axis of the rear corner radar of the vehicle and the rear bumper to the longitudinal rear of the vehicle, and the vertical forward distance is a distance extending a third length from the intersection of the X-axis of the rear corner radar of the vehicle and the rear bumper to the longitudinal front of the vehicle, wherein the first length is greater than the third length, and the third length is greater than the second length. The evaluating the current danger level of the vehicle based on the corresponding position areas where the first intersection point and the second intersection point respectively fall within the plurality of distances and the collision time comprises: The current danger level of the vehicle is evaluated based on the corresponding position areas where the first intersection point and the second intersection point fall within the vertical warning distance, the vertical braking distance and the vertical forward distance respectively and the collision time.

5. The method according to claim 4, characterized in that The evaluating the current danger level of the vehicle based on the corresponding position areas where the first intersection point and the second intersection point fall within the vertical warning distance, the vertical braking distance, and the vertical forward distance and the collision time respectively includes: When any one of the first intersection point and the second intersection point is located between the vertical warning distance and the vertical forward distance, and the collision time is within a first time range, it is determined that the current danger level of the vehicle is a first danger level; When any one of the first intersection point and the second intersection point is located between the vertical braking distance and the vertical forward distance, and the collision time is within a second time range, it is determined that the current danger level of the vehicle is a second danger level, wherein the collision time within the second time range is shorter than the collision time within the first time range, and the danger level of the second danger level is higher than that of the first danger level; When the collision time is within a third time range, it is determined that the vehicle is not in danger, wherein the collision time within the third time range is longer than the collision time within the first time range.

6. The method according to claim 1, characterized in that Also includes: Divide the driver's sight points into multiple sight areas in advance based on the 3D digital model of the vehicle interior; Corresponding duration thresholds are set for the multiple gaze areas respectively, wherein: The determining the driver's current sight area based on the driver's current sight point includes: When the driver's sight point falls on a certain sight fixation area among the multiple sight fixation areas and lasts for a corresponding time threshold, the sight fixation area is determined to be the driver's current sight fixation area.

7. The method according to claim 6, characterized in that The sight area includes the left rearview mirror area, the right rearview mirror area, the inner rearview mirror area, the central control screen area displaying the panoramic image and other areas, and the other areas include the area other than the left rearview mirror area, the right rearview mirror area, the inner rearview mirror area and the central control screen area, wherein: The step of performing a fusion decision on the driver's current sight line area and the current danger level to output a fusion decision instruction includes: When the driver's current sight line is focused on the other area and the current danger level is level 2, the output fusion decision instruction is a braking instruction. The controlling of the corresponding actuator based on the fusion decision instruction includes: The brake actuator is triggered to perform braking based on the brake command.

8. The method according to claim 7, characterized in that The step of performing a fusion decision on the driver's current sight line area and the current danger level to output a fusion decision instruction further includes: When the driver's current sight line area is the left rearview mirror area, the right rearview mirror area, the interior rearview mirror area and the central control screen area, and the current danger level is the second danger level, or when the current danger level is the first danger level, the output fusion decision instruction is an alarm instruction, The controlling of the corresponding actuator based on the fusion decision instruction includes: The alarm executor is triggered to execute the alarm based on the alarm instruction.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 8 are implemented.

10. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the vehicle control method according to any one of claims 1 to 8.

11. A vehicle control system, characterized in that: include: Driver status monitoring system, used to dynamically obtain the driver's current line of sight; Rear corner radar, used to obtain information about targets behind the vehicle; A driver intention recognition module, used to determine the driver's current sight area based on the driver's current sight point; A danger level assessment module, used for assessing the current danger level of the vehicle based on the information of the vehicle and the information of the rear target; A decision module, used for performing a fusion decision on the driver's current sight line fixation area and the current danger level to output a fusion decision instruction; A control module is used to control the corresponding actuator based on the fusion decision instruction.

12. A vehicle, characterized in that: Comprising the vehicle control system as claimed in claim 11.

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