Vehicle control method, device and equipment and storage medium

Abstract

The invention relates to a vehicle control method and device, equipment and a storage medium. The method comprises the steps that sound information sent by a plurality of sound detection sensors on a current vehicle is received; determining whether a special target exists around the current vehicle or not according to the sound information; when the special target exists around the current vehicle, determining the position of the special target according to the sound information; according to the special target and the position, predicting whether the current vehicle obstructs advancing of the special target or not; and when it is predicted that the current vehicle obstructs the special target to advance, determining a voiceprint early warning strategy to be used according to the special target, and performing early warning based on the voiceprint early warning strategy. According to the method, when the current vehicle obstructs the special target, the driver is pre-warned to prevent the current vehicle from obstructing the special target.

Description

Technical Field

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

[0002] The continuous optimization of current cars has improved the comfort of users in the process of using the car. However, at the same time, users cannot quickly and clearly perceive some sound prompts of the vehicle's external environment.

[0003] The current intelligent driving assistance system senses the environment around the vehicle by collecting images around the vehicle, and then controls the vehicle or reminds the driver to drive safely based on the sensed environment. However, due to the limited environment perceived based on the image, it is impossible to identify special targets that are obscured from the rear, such as fire trucks, ambulances, police cars, etc. Therefore, for these special targets, the intelligent assisted driving system cannot fully identify and avoid them in advance. Therefore, a vehicle control method is urgently needed. Summary of the invention

[0004] The present application provides a vehicle control method, device, equipment and storage medium, which can prevent the current vehicle from obstructing the progress of a specific target.

[0005] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0006] Receive sound information sent by multiple sound detection sensors on the current vehicle;

[0007] Determining whether there is a special target around the current vehicle according to the sound information;

[0008] When the special target exists around the current vehicle, determining the position of the special target according to the sound information;

[0009] Predicting, based on the special target and the position, whether the current vehicle will hinder the special target;

[0010] When it is predicted that the current vehicle hinders the advancement of the special target, a voiceprint warning strategy to be used is determined according to the special target, so as to issue a warning based on the voiceprint warning strategy.

[0011] Optionally, determining whether the current vehicle hinders the advancement of the special target according to the special target and the position includes:

[0012] Using the special target and the position, the surrounding environment information generated based on the image is updated to obtain updated surrounding environment information, wherein the image is collected by a camera on the current vehicle;

[0013] Determining the first lane where the special target is located according to the updated surrounding environment information;

[0014] Whether the current vehicle obstructs the special object from moving forward is determined according to the position of the current vehicle, the position of the special object, and the first lane.

[0015] Optionally, determining whether the current vehicle obstructs the special target according to the position of the current vehicle, the position of the special target and the first lane includes:

[0016] According to the position of the current vehicle, the position of the special target and the first lane, detecting whether the current vehicle is on the first lane and whether the current vehicle is in front of the special target, and obtaining a detection result;

[0017] When the detection result is that the current vehicle is on the first lane and the current vehicle is in front of the special target, determining that the current vehicle is hindering the special target;

[0018] When the detection result is that the current vehicle is on the first lane and the current vehicle is not in front of the special target, determining that the current vehicle is hindering the special target;

[0019] When the detection result is that the current vehicle is not in the first lane, the second lane of the current vehicle is acquired, and whether the current vehicle hinders the special target from moving forward is determined according to the first lane and the second lane.

[0020] Optionally, determining whether the current vehicle obstructs the advancement of the special target according to the first lane and the second lane includes:

[0021] detecting whether the first lane and the second lane are parallel;

[0022] When the first lane and the second lane are not parallel, determining whether there is an intersection where the current vehicle and the special target are about to pass together, and if so, determining that the current vehicle will hinder the special target from moving forward, and if not, determining that the current vehicle will not hinder the special target from moving forward;

[0023] When the first lane and the second lane are parallel, it is determined that the current vehicle will not hinder the special target from moving forward.

[0024] Optionally, determining the voiceprint warning strategy to be used according to the special target includes:

[0025] Get the type of the special target;

[0026] According to the type of the special target and the correspondence between the preset type and the voiceprint warning strategy, the voiceprint warning strategy corresponding to the special target is determined to obtain the voiceprint warning strategy to be used.

[0027] Optionally, determining whether there is a special target around the current vehicle according to the sound information includes:

[0028] Acquire sound feature data and credibility in the sound information, wherein the sound feature data includes decibel value, high frequency, low frequency and sound wave duration, and the credibility indicates the credibility of the sound information;

[0029] Determine the sound source corresponding to the sound feature data according to the preset corresponding relationship between the sound feature data and the sound source;

[0030] Detecting whether the sound-emitting body is a special target according to the type of the sound-emitting body;

[0031] When the sound-emitting body is a special target, determining whether there is a special target around the current vehicle according to the credibility;

[0032] When the sound-emitting body is not a special target, it is determined that no special target exists around the current vehicle.

[0033] Optionally, the sound information also includes a distance from the current vehicle, and determining whether there is a special target around the current vehicle according to the credibility includes:

[0034] Determining the credibility threshold corresponding to the special target according to the type of the special target and the correspondence between the preset type and the credibility threshold;

[0035] According to the type, the credibility threshold is adjusted to obtain an adjusted credibility threshold;

[0036] When the credibility is greater than the adjusted credibility threshold, determining that there is a special target around the current vehicle;

[0037] When the credibility is less than or equal to the adjusted credibility threshold, it is determined that no special target exists around the current vehicle.

[0038] In a second aspect, the present application provides a vehicle control device, the device comprising:

[0039] A receiving unit, used for receiving sound information sent by multiple sound detection sensors on the current vehicle;

[0040] A first determining unit, configured to determine whether there is a special target around the current vehicle according to the sound information;

[0041] A second determining unit, configured to determine the position of the special target according to the sound information when the special target exists around the current vehicle;

[0042] A prediction unit, configured to predict whether the current vehicle will hinder the special target from moving forward according to the special target and the position;

[0043] The control unit is used to determine the voiceprint warning strategy to be used according to the special target when it is predicted that the current vehicle hinders the progress of the special target, so as to issue a warning based on the voiceprint warning strategy.

[0044] Optional, prediction unit, used to:

[0045] Using the special target and the position, the surrounding environment information generated based on the image is updated to obtain updated surrounding environment information, wherein the image is collected by a camera on the current vehicle;

[0046] Determining the first lane where the special target is located according to the updated surrounding environment information;

[0047] Whether the current vehicle obstructs the special object from moving forward is determined according to the position of the current vehicle, the position of the special object, and the first lane.

[0048] Optional, prediction unit, used to:

[0049] According to the position of the current vehicle, the position of the special target and the first lane, detecting whether the current vehicle is on the first lane and whether the current vehicle is in front of the special target, and obtaining a detection result;

[0050] When the detection result is that the current vehicle is on the first lane and the current vehicle is in front of the special target, determining that the current vehicle is hindering the special target;

[0051] When the detection result is that the current vehicle is on the first lane and the current vehicle is not in front of the special target, determining that the current vehicle is hindering the special target;

[0052] When the detection result is that the current vehicle is not in the first lane, the second lane of the current vehicle is acquired, and whether the current vehicle hinders the special target from moving forward is determined according to the first lane and the second lane.

[0053] Optional, prediction unit, used to:

[0054] detecting whether the first lane and the second lane are parallel;

[0055] When the first lane and the second lane are not parallel, determining whether there is an intersection where the current vehicle and the special target are about to pass together, and if so, determining that the current vehicle will hinder the special target from moving forward, and if not, determining that the current vehicle will not hinder the special target from moving forward;

[0056] When the first lane and the second lane are parallel, it is determined that the current vehicle will not hinder the special target from moving forward.

[0057] Optionally, a control unit for:

[0058] Get the type of the special target;

[0059] According to the type of the special target and the correspondence between the preset type and the voiceprint warning strategy, the voiceprint warning strategy corresponding to the special target is determined to obtain the voiceprint warning strategy to be used.

[0060] Optionally, the first determining unit is configured to:

[0061] Acquire sound feature data and credibility in the sound information, wherein the sound feature data includes decibel value, high frequency, low frequency and sound wave duration, and the credibility indicates the credibility of the sound information;

[0062] Determine the sound source corresponding to the sound feature data according to the preset corresponding relationship between the sound feature data and the sound source;

[0063] Detecting whether the sound-emitting body is a special target according to the type of the sound-emitting body;

[0064] When the sound-emitting body is a special target, determining whether there is a special target around the current vehicle according to the credibility;

[0065] When the sound-emitting body is not a special target, it is determined that no special target exists around the current vehicle.

[0066] Optionally, the first determining unit is configured to:

[0067] Determining the credibility threshold corresponding to the special target according to the type of the special target and the correspondence between the preset type and the credibility threshold;

[0068] According to the type, the credibility threshold is adjusted to obtain an adjusted credibility threshold;

[0069] When the credibility is greater than the adjusted credibility threshold, determining that there is a special target around the current vehicle;

[0070] When the credibility is less than or equal to the adjusted credibility threshold, it is determined that no special target exists around the current vehicle.

[0071] In a third aspect, the present application provides a vehicle control device, comprising: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor connected to the at least one bus; at least one memory connected to the at least one bus, wherein the processor is configured to:

[0072] Receive sound information sent by multiple sound detection sensors on the current vehicle;

[0073] Determining whether there is a special target around the current vehicle according to the sound information;

[0074] When the special target exists around the current vehicle, determining the position of the special target according to the sound information;

[0075] Predicting, based on the special target and the position, whether the current vehicle will hinder the special target;

[0076] When it is predicted that the current vehicle hinders the advancement of the special target, a voiceprint warning strategy to be used is determined according to the special target, so as to issue a warning based on the voiceprint warning strategy.

[0077] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the above-mentioned vehicle control method when executed by a processor.

[0078] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art: by receiving the sound information sent by multiple sound detection sensors on the current vehicle, and then determining whether there are special targets around the current vehicle based on the sound information. When there are special targets around the current vehicle, the position of the special target is determined based on the sound information, and then, based on the special target and the position, it is determined whether the current vehicle is hindering the progress of the special target. When the vehicle hinders the progress of the special target, the soundprint warning strategy to be used is determined based on the special target, so as to issue an early warning based on the soundprint warning strategy. Since the propagation range of sound is wider, the present application can determine whether there are special targets in a larger area around the current vehicle through the sound collected by the sound detection sensor, and then when there are special targets, remind the driver to make emergency avoidance to prevent the current vehicle from hindering the progress of the special target. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0080] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0081] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0082] Figure 1 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0083] Figure 2 A schematic diagram of a flow chart of a driving trajectory prediction method provided in an embodiment of the present application;

[0084] Figure 3 A flow chart of a vehicle determination method provided in an embodiment of the present application;

[0085] Figure 4 A flowchart of another vehicle determination method provided in an embodiment of the present application;

[0086] Figure 5 A flowchart of another sound information analysis method provided in an embodiment of the present application;

[0087] Figure 6 A flowchart of another data detection method provided in an embodiment of the present application;

[0088] Figure 7 A schematic diagram of a process flow of a vehicle control device provided in an embodiment of the present application;

[0089] Figure 8 A schematic diagram of a vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0090] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0091] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0092] The current intelligent driving assistance system senses the environment around the vehicle by collecting images around the vehicle, and then controls the vehicle or reminds the driver to drive safely based on the sensed environment. However, due to the limited environment perceived based on the image, it is impossible to identify special targets that are obscured in the rear, such as fire trucks, ambulances, police cars, etc. In order to solve the above problems, the present application determines whether there are special targets around the current vehicle based on the sound information sent by the sound detection sensor, and when there are special targets around the current vehicle, predicts whether the current vehicle will hinder the progress of the special targets. If so, the soundprint warning strategy to be used is determined based on the special targets, so as to issue an early warning based on the soundprint warning strategy. Since the sound propagation range is wider, the present application can determine whether there are special targets in a larger area around the current vehicle through the sound collected by the sound detection sensor, and then when there are special targets, remind the driver to make emergency avoidance to prevent the current vehicle from hindering the progress of the special targets.

[0093] In summary, the embodiment of the present application provides a vehicle control method, which can prevent the current vehicle from obstructing the progress of a special target, such as Figure 1 As shown, the specific steps include:

[0094] Step 101, receiving sound information sent by multiple sound detection sensors on the current vehicle.

[0095] Among them, the sound information is obtained by the sound detection sensor processing the received sound, and the sound information includes sound characteristic data, for example, data describing the sound characteristics such as decibel value, high frequency, low frequency and sound wave duration, as well as data such as the distance between the sound source and the sound detector, and credibility indicating the credibility of the sound.

[0096] In practice, a plurality of sound detection sensors are installed on the current vehicle, and the sound detection sensors are used to receive sounds around the current vehicle. The plurality of sound detection sensors are respectively arranged at different positions of the current vehicle, so that the same sound source is determined by the sound detection sensors at different positions. Preferably, three sound detection sensors are arranged on the current vehicle, and each sound detection sensor is arranged at each corner of the equilateral triangle according to the equilateral triangle.

[0097] Furthermore, when the sound detection sensor receives the sound, the sound detection sensor processes the received sound to obtain sound information, and sends the sound information to the intelligent assisted driving system, so that the intelligent assisted driving system receives the sound information sent by the sound detection sensor.

[0098] It should be noted that the executor of the embodiment of the present application may be an intelligent assisted driving system. Of course, a sound processing module may be provided outside the intelligent assisted driving system to execute steps 101 to 103, which is not limited here.

[0099] Step 102, determining whether there is a special target around the current vehicle based on the sound information.

[0100] Among them, special targets are vehicles performing emergency tasks, such as ambulances, fire trucks, police cars, etc.

[0101] In this step, when the intelligent assisted driving system receives the sound information, the intelligent assisted driving system can only determine whether there are objects making sounds around the current vehicle, but cannot determine whether there are special targets around the current vehicle. Therefore, the intelligent assisted driving system needs to analyze the sound information to further determine whether there are special targets around the current vehicle.

[0102] Furthermore, the present application can collect the sound of each special target in advance, analyze each sound, obtain the sound feature data in each sound, and then establish a correspondence between the special target and the sound feature data according to each special target and its corresponding sound feature data, and store it in the current vehicle. Afterwards, when the intelligent assisted driving system needs to analyze the received sound information, the intelligent assisted driving system can determine whether there is a special target corresponding to the sound feature data in the pre-established correspondence according to the sound feature data in the sound information. If so, it is determined that there is a special target around the current vehicle. If not, it is determined that there is no special target around the current vehicle.

[0103] Of course, the current vehicle may store a pre-trained sound recognition model, through which the sound-emitting body corresponding to the sound feature data is identified, and then whether the sound-emitting body is a special target is detected. If so, it is determined that there is a special target around the current vehicle, and if not, it is determined that there is no special target around the current vehicle. Alternatively, a correspondence between various sound-emitting bodies and sound feature data is established in advance, and based on the correspondence, the sound-emitting body corresponding to the sound feature data is determined, and then whether the sound-emitting body is a special target is detected. If so, it is determined that there is a special target around the current vehicle, and if not, it is determined that there is no special target around the current vehicle.

[0104] Step 103, when there is a special target around the current vehicle, the position of the special target is determined according to the sound information.

[0105] In this step, the sound information sent by each sound detection sensor includes the distance between the sound source and the sound detection sensor. In this way, after receiving each sound information, the intelligent assisted driving system determines a circle with the sound detection sensor that sent the sound information as the center and the distance in the sound information as the radius. Based on this, the intelligent assisted driving system can determine multiple circles and determine the coincidence points between these circles as the positions of special targets.

[0106] Step 104, determining whether the current vehicle obstructs the special target according to the special target and the position.

[0107] In this step, the intelligent assisted driving system determines whether the special target is on the driving route of the current vehicle or whether the current vehicle is on the driving route of the special target based on the special target and its position. If so, it is determined that the current vehicle may hinder the special target and further judgment is required. If neither of them is, it means that the driving routes of the two do not intersect, and it is determined that the current vehicle will definitely not hinder the special target.

[0108] Step 105: When the vehicle obstructs the progress of a special target, a voiceprint warning strategy to be used is determined according to the special target, so as to issue a warning based on the voiceprint warning strategy.

[0109] In this step, when the vehicle obstructs the progress of a special target, the intelligent assisted driving system determines the voiceprint warning strategy to be used according to the special target, so as to remind the driver to control the current vehicle to make emergency avoidance of the special target based on the voiceprint warning strategy.

[0110] In an embodiment of the present application, by receiving sound information sent by multiple sound detection sensors on the current vehicle, and then determining whether there are special targets around the current vehicle based on the sound information. When there are special targets around the current vehicle, the position of the special target is determined based on the sound information, and then, based on the special target and the position, it is determined whether the current vehicle is obstructing the progress of the special target. When the vehicle obstructs the progress of the special target, the soundprint warning strategy to be used is determined based on the special target, so as to issue an early warning based on the soundprint warning strategy. Since the propagation range of sound is wider, the present application can determine whether there are special targets in a larger area around the current vehicle through the sound collected by the sound detection sensor, and then, when there are special targets, the driver is warned to control the current vehicle for emergency avoidance to prevent the current vehicle from obstructing the progress of the special target.

[0111] In the embodiment of the present application, since the surrounding environment information generated based on the image is limited, the surrounding environment information can be updated according to the special target and its position, so as to predict the driving trajectory of the special target based on the updated surrounding environment information. Therefore, the embodiment of the present application provides a driving trajectory prediction method, which is a further limitation of step 104, such as Figure 2 As shown, the specific steps are:

[0112] Step 201, update the surrounding environment information generated based on the image with the special target and position to obtain updated surrounding environment information.

[0113] The image is captured by the camera on the current vehicle. The surrounding environment information includes obstacles around the current vehicle and the position of each obstacle on the road. The obstacle can be vehicles, pedestrians, etc. around the current vehicle.

[0114] In this step, the intelligent assisted driving system obtains the images collected by each camera, identifies the collected images, obtains the obstacles around the current vehicle and their positions, and then marks the obstacles and their positions on the map to generate surrounding environment information. When the special target and its position are obtained, the special target and its position are marked on the map corresponding to the surrounding environment information to update the surrounding environment information and obtain updated surrounding environment information.

[0115] Step 202: Determine the first lane where the special target is located according to the updated surrounding environment information.

[0116] In this step, the intelligent assisted driving system can determine the first lane where the special target is located according to the position of the special target in the updated surrounding environment information.

[0117] Step 203, determining whether the current vehicle obstructs the special target according to the position of the current vehicle, the position of the special target and the first lane.

[0118] In the embodiment of the present application, the intelligent assisted driving system can detect whether the current vehicle is in the first lane and whether the current vehicle is in front of the special target based on the position of the current vehicle, the position of the special target and the first lane, and then determine whether the current vehicle will hinder the progress of the special target based on the detection result. Therefore, the embodiment of the present application provides a vehicle judgment method, which is a further limitation of step 203, such as Figure 3 As shown, specifically including:

[0119] Step 301 , based on the position of the current vehicle, the position of the special target and the first lane, detect whether the current vehicle is in the first lane and whether the current vehicle is in front of the special target.

[0120] In this step, the intelligent assisted driving system can determine whether the current vehicle is in the first lane according to whether the current vehicle is in the first lane. Alternatively, the second lane where the current vehicle is located can be determined by the current vehicle's position, and whether the first lane and the second lane are the same lane. If they are the same lane, the current vehicle is determined to be in the first lane, otherwise, the current vehicle is determined not to be in the first lane. At the same time, the intelligent assisted driving system can also obtain the vehicle's driving direction according to the direction indicated by the first lane, and then determine whether the current vehicle is in front of a special target according to the current vehicle's position and the position of the special target.

[0121] Step 302: When the detection result shows that the current vehicle is in the first lane and the current vehicle is in front of the special target, it is determined that the current vehicle is blocking the special target.

[0122] For example, when the current vehicle is driving normally, the intelligent assisted driving system detects the presence of a special target around the current vehicle, and detects that the current vehicle is in the lane where the special target is located and the current vehicle is in front of the special target. The intelligent assisted driving system determines that the current vehicle is hindering the advancement of the special target.

[0123] Step 303: When the detection result shows that the current vehicle is in the first lane and the current vehicle is not in front of the special target, it is determined that the current vehicle does not hinder the special target from moving forward.

[0124] In this step, when the detection result is that the current vehicle is in the first lane and the current vehicle is not in front of the special target, it means that the current vehicle is behind the special target and the current vehicle will not hinder the special target from moving forward.

[0125] Step 304, when the detection result is that the current vehicle is not in the first lane, the second lane of the current vehicle is obtained, and based on the first lane and the second lane, it is determined whether the current vehicle obstructs the special target.

[0126] In this step, when the current vehicle is not in the first lane, if the current vehicle meets a special target at a certain point in time, it means that the current vehicle may still hinder the progress of the special target. Therefore, the intelligent assisted driving system also needs to obtain the second lane of the current vehicle, and further determine whether the current vehicle hinders the progress of the special target based on the first lane and the second lane.

[0127] In the embodiment of the present application, the intelligent assisted driving system can detect whether the first lane and the second lane are parallel. When the first lane and the second lane are parallel, the intelligent assisted driving system can determine that the current vehicle will not hinder the special target from moving forward. When the first lane and the second lane are not parallel, the intelligent assisted driving system needs to perform further detection. Therefore, the embodiment of the present application provides a vehicle judgment method, which is a further limitation of step 304, such as Figure 4As shown, specifically including

[0128] Step 401, detecting whether the first lane and the second lane are parallel.

[0129] Step 402, when the first lane and the second lane are not parallel, determine whether there is an intersection where the current vehicle and the special target are about to pass together. If so, determine that the current vehicle will hinder the special target from moving forward. If not, determine that the current vehicle will not hinder the special target from moving forward.

[0130] In this step, when the first lane and the second lane are not parallel, the current vehicle and the special target may or may not meet. Therefore, the intelligent assisted driving system needs to further detect it. The intelligent assisted driving system can determine the direction indicated by the first lane as the driving direction of the special target, and the direction indicated by the first lane as the driving direction of the current vehicle. Afterwards, based on the positions and driving directions of the two, in the updated map corresponding to the surrounding environment, whether there is an intersection that the current vehicle and the special target are about to pass through together, if so, it is determined that the current vehicle will hinder the special target from moving forward, and if not, it is determined that the current vehicle will not hinder the special target from moving forward.

[0131] Step 403: When the first lane and the second lane are parallel, it is determined that the current vehicle will not hinder the special target from moving forward.

[0132] In this step, when the first lane and the second lane are parallel, it means that the current vehicle and the special target are traveling side by side, and the intelligent assisted driving system can determine that the current vehicle will not hinder the advancement of the special target.

[0133] In the embodiment of the present application, when it is predicted that the current vehicle is obstructing the progress of a special target, the intelligent assisted driving system can also determine the voiceprint warning strategy to be used according to the special target, and use the voiceprint warning strategy to remind the driver to avoid the current vehicle actually obstructing the progress of the special target. The specific steps are:

[0134] Obtain the type of the special target; determine the voiceprint warning strategy corresponding to the special target according to the type of the special target and the correspondence between the preset type and the voiceprint warning strategy, and obtain the voiceprint warning strategy to be used.

[0135] Among them, the voiceprint warning strategy can be to remind the user to slow down or stop, remind the user to change lanes, etc., or it can control the current vehicle to slow down or stop, and re-plan the driving route to control the current vehicle to change lanes.

[0136] exist Figure 3 and Figure 4In the described embodiment, there are two situations in which the current vehicle hinders the progress of the special target. One is that the current vehicle and the special target are in the same lane and the current vehicle is ahead of the special target, and the other is that the current vehicle and the special target may meet at an intersection. For the first situation, the current vehicle can only avoid hindering the progress of the special target by changing the route. Therefore, for the first situation, the voiceprint warning strategy is to regenerate the driving route for the current vehicle and display it so that the driver can drive based on the driving route. For the second situation, the intelligent assisted driving system does not need to re-plan the route for the current vehicle, but only needs to control the time for the vehicle to arrive at the intersection in advance or delay. In order to ensure the driving safety of the current vehicle, the time for the current vehicle to arrive at the meeting position can be delayed, for example, reminding the driver to slow down or pause. Therefore, for the second situation, the voiceprint warning strategy is to remind the driver to slow down or pause.

[0137] Based on the above, when it is predicted that the current vehicle is obstructing the progress of a special target, the intelligent assistance system detects the reason why the current vehicle is obstructing the progress of the special target. When the reason is that the current vehicle and the special target are in the same lane and the current vehicle is in front of the special target, the intelligent assisted driving system can re-plan multiple routes based on the updated surrounding environment information. Furthermore, the intelligent assisted driving system can also remove the same route as the previously used route to avoid obtaining the same route as the previously used route, and then recommend the final driving route to the driver so that the driver can drive according to the driving route. When the reason is that the current vehicle and the special target may meet at an intersection, the intelligent assisted driving system can remind the driver to slow down or stop the current vehicle based on the updated surrounding environment information to avoid the current vehicle and the special target meeting at the intersection.

[0138] It should be noted that if the intersection is in a state where the current vehicle is allowed to pass, that is, the traffic light is green for the current vehicle, the intelligent assisted driving system can lower the priority of the traffic light and remind the driver to slow down or stop the current vehicle, thereby causing the current vehicle to slow down or stop at the intersection.

[0139] When the sounding object is identified as an animal, the mobile phone APP can remind the user to pay attention to safety and keep a distance. Of course, when the sounding object is identified as an ordinary vehicle, the mobile phone APP can remind the user to avoid it, or remind the user to pay attention to safety and keep a distance.

[0140] In the embodiment of the present application, after receiving the sound information, the intelligent assisted driving system can analyze the sound information to determine whether there is a special target around the current vehicle. Therefore, the embodiment of the present application provides a sound information analysis method, which is a further limitation of step 102, specifically as follows Figure 5 As shown, including:

[0141] Step 501, obtaining sound feature data and credibility in sound information.

[0142] Among them, the sound feature data includes data representing the sound features, such as decibel value, high frequency, low frequency and sound wave duration. Credibility indicates the credibility of the sound information, and the credibility is negatively correlated with the distance between the sound detection sensor and the sound source, that is, the lower the credibility, the farther the distance between the sound detection sensor and the sound source, and the higher the credibility, the closer the distance between the sound detection sensor and the sound source. When the distance between the sound source and the sound detection sensor is too far, there is a certain difference between the sound received by the sound detection sensor and the sound emitted by the sound source. This is because the sound will be lost and interfered during the transmission process, and then the sound received by the sound detection sensor is different from the sound emitted by the sound source, which makes the sound less credible, that is, the credibility of the sound is low.

[0143] In this step, when the intelligent assisted driving system receives the sound information, the intelligent assisted driving system can find the sound feature data and credibility in the sound information.

[0144] Furthermore, the sound detection sensor may also send the sound to the intelligent assisted driving system, and then the intelligent assisted driving system detects whether the frequency in the spectrum of the sound is too high or too low. If so, it means that the sound does not meet the condition, and step 501 is not executed. If not, it means that the sound meets the condition, and step 501 can be continued.

[0145] Step 502: Determine the sound-emitting body corresponding to the sound-emitting body according to the preset correspondence between the sound-emitting body and the sound-emitting body.

[0146] Table 1

[0147]

[0148] In this step, the correspondence between the sound characteristic data and the sound source is shown in Table 1. The intelligent assisted driving system can compare the decibel value, high frequency, low frequency and sound wave duration in the sound characteristic data with the data in the table to determine the sound source corresponding to the sound characteristic data.

[0149] Step 503: Detect whether the sound-emitting body is a special target according to the type of the sound-emitting body.

[0150] In this step, the sound source may be a police car, an ambulance, a fire truck, or the noise produced by surrounding factories, etc. After the intelligent assisted driving system determines the sound source, it can determine whether the sound source is a special target based on the type of the sound source. If so, it determines that the sound source is a special target, and if not, it determines that the sound source is not a special target.

[0151] Step 504: When the sound source is a special target, determine whether there is a special target around the current vehicle based on the credibility.

[0152] In this step, when the intelligent assisted driving system determines that the sound source is a special target, the intelligent assisted driving system can directly determine that there is a special target around the current vehicle, or further detect to determine whether there is a special target around the current vehicle. This step further determines whether there is a special target around the current vehicle through credibility.

[0153] Step 505: When the sound-emitting body is not a special target, it is determined that there is no special target around the current vehicle.

[0154] In this step, when the sound-emitting body is not a special target, the intelligent assisted driving system determines that there is no special target around the current vehicle.

[0155] In the embodiment of the present application, the intelligent assisted driving system can further detect based on the credibility to determine whether there is a special target around the current vehicle. Therefore, the embodiment of the present application provides a data detection method, which is a further limitation of step 504, specifically as follows Figure 6 As shown, including:

[0156] Step 601, determining the credibility threshold corresponding to the special target according to the type of the special target and the correspondence between the preset type and the credibility threshold.

[0157] In this step, the intelligent assisted driving system can store the credibility threshold corresponding to each type. When the credibility threshold needs to be used, the credibility threshold corresponding to the special target can be determined according to the type of the special target and the correspondence between the preset type and the credibility threshold.

[0158] Step 602: Adjust the credibility threshold according to the type to obtain an adjusted credibility threshold.

[0159] In this step, for special targets such as ambulances, the intelligent assisted driving system can lower the credibility threshold so that the driver can still be reminded to avoid the ambulance even when the sound is not credible. For example, if the credibility threshold is 80, when the special target is an ambulance, the credibility threshold is raised to 75.

[0160] Furthermore, the intelligent assisted driving system can determine whether the type of the special target is a target type according to the type of the special target. When the type is a target type, the credibility threshold is lowered by a preset value to obtain an adjusted credibility threshold. When the type is not a target type, the credibility threshold is not adjusted and is directly determined as the adjusted credibility threshold. Among them, the target type is an ambulance, a police car, a fire truck, etc.

[0161] Step 603: When the credibility is greater than the adjusted credibility threshold, it is determined that there is a special target around the current vehicle.

[0162] In this step, the intelligent assisted driving system can detect whether the credibility is greater than the adjusted credibility threshold. When the intelligent assisted driving system detects that the credibility is greater than the adjusted credibility threshold, it is determined that there is a special target around the current vehicle.

[0163] Step 604: when the credibility is less than or equal to the adjusted credibility threshold, it is determined that there is no special target around the current vehicle.

[0164] In this step, when the credibility is less than or equal to the adjusted credibility threshold, the intelligent assisted driving system determines that there is no special target around the current vehicle.

[0165] Furthermore, technicians can also set a minimum threshold in the intelligent assisted driving system. When the credibility is less than or equal to the adjusted credibility threshold, but greater than the minimum threshold, it means that although the sound message is not very credible, there may be special targets around the current vehicle. At this time, a message to pay attention to special targets can be displayed on the display screen of the current vehicle to alert the driver whether there are special targets around. When the credibility is less than or equal to the minimum threshold, the intelligent assisted driving system can ignore the corresponding sound information and do not process it.

[0166] like Figure 7 As shown, an embodiment of the present application provides a vehicle control device, which corresponds to the method embodiment and specifically includes:

[0167] A receiving unit 701 is used to receive sound information sent by multiple sound detection sensors on the current vehicle;

[0168] A first determining unit 702 is used to determine whether there is a special target around the current vehicle according to the sound information;

[0169] A second determining unit 703 is used to determine the position of the special target according to the sound information when the special target exists around the current vehicle;

[0170] A prediction unit 704, configured to predict whether the current vehicle will hinder the special target from moving forward according to the special target and the position;

[0171] The control unit 705 is configured to determine a voiceprint warning strategy to be used according to the special target when it is predicted that the current vehicle hinders the progress of the special target, so as to issue a warning based on the voiceprint warning strategy.

[0172] Optionally, the prediction unit 704 is configured to:

[0173] Using the special target and the position, the surrounding environment information generated based on the image is updated to obtain updated surrounding environment information, wherein the image is collected by a camera on the current vehicle;

[0174] Determining the first lane where the special target is located according to the updated surrounding environment information;

[0175] Whether the current vehicle obstructs the special object from moving forward is determined according to the position of the current vehicle, the position of the special object, and the first lane.

[0176] Optionally, the prediction unit 704 is configured to:

[0177] According to the position of the current vehicle, the position of the special target and the first lane, detecting whether the current vehicle is on the first lane and whether the current vehicle is in front of the special target, and obtaining a detection result;

[0178] When the detection result is that the current vehicle is on the first lane and the current vehicle is in front of the special target, determining that the current vehicle is hindering the special target;

[0179] When the detection result is that the current vehicle is on the first lane and the current vehicle is not in front of the special target, determining that the current vehicle is hindering the special target;

[0180] When the detection result is that the current vehicle is not in the first lane, the second lane of the current vehicle is acquired, and whether the current vehicle hinders the special target from moving forward is determined according to the first lane and the second lane.

[0181] Optionally, the prediction unit 704 is configured to:

[0182] detecting whether the first lane and the second lane are parallel;

[0183] When the first lane and the second lane are not parallel, determining whether there is an intersection where the current vehicle and the special target are about to pass together, and if so, determining that the current vehicle will hinder the special target from moving forward, and if not, determining that the current vehicle will not hinder the special target from moving forward;

[0184] When the first lane and the second lane are parallel, it is determined that the current vehicle will not hinder the special target from moving forward.

[0185] Optionally, the control unit 705 is configured to:

[0186] Get the type of the special target;

[0187] According to the type of the special target and the correspondence between the preset type and the voiceprint warning strategy, the voiceprint warning strategy corresponding to the special target is determined to obtain the voiceprint warning strategy to be used.

[0188] Optionally, the first determining unit 702 is configured to:

[0189] Acquire sound feature data and credibility in the sound information, wherein the sound feature data includes decibel value, high frequency, low frequency and sound wave duration, and the credibility indicates the credibility of the sound information;

[0190] Determine the sound source corresponding to the sound feature data according to the preset corresponding relationship between the sound feature data and the sound source;

[0191] Detecting whether the sound-emitting body is a special target according to the type of the sound-emitting body;

[0192] When the sound-emitting body is a special target, determining whether there is a special target around the current vehicle according to the credibility;

[0193] When the sound-emitting body is not a special target, it is determined that no special target exists around the current vehicle.

[0194] Optionally, the first determining unit 702 is configured to:

[0195] Determining the credibility threshold corresponding to the special target according to the type of the special target and the correspondence between the preset type and the credibility threshold;

[0196] According to the type, the credibility threshold is adjusted to obtain an adjusted credibility threshold;

[0197] When the credibility is greater than the adjusted credibility threshold, determining that there is a special target around the current vehicle;

[0198] When the credibility is less than or equal to the adjusted credibility threshold, it is determined that no special target exists around the current vehicle.

[0199] like Figure 8 As shown, the embodiment of the present application provides a vehicle control device, including a processor 801, a communication interface 802, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802, and the memory 803 communicate with each other through the communication bus 804.

[0200] Memory 803, used for storing computer programs;

[0201] In one embodiment of the present application, the processor 801 is used to execute the program stored in the memory 803 to implement the vehicle control method provided by any of the above method embodiments, including:

[0202] Receive sound information sent by multiple sound detection sensors on the current vehicle;

[0203] Determining whether there is a special target around the current vehicle according to the sound information;

[0204] When the special target exists around the current vehicle, determining the position of the special target according to the sound information;

[0205] Predicting, based on the special target and the position, whether the current vehicle will hinder the special target;

[0206] When it is predicted that the current vehicle hinders the advancement of the special target, the current vehicle is controlled to perform emergency avoidance of the special target.

[0207] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vehicle control method provided in any of the aforementioned method embodiments are implemented.

[0208] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0209] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0210] It should be understood that the terms used in the text are only for the purpose of describing specific example embodiments, and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used in the text may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0211] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle control method, characterized in that: The method comprises: Receive sound information sent by multiple sound detection sensors on the current vehicle; Determining whether there is a special target around the current vehicle according to the sound information; When the special target exists around the current vehicle, determining the position of the special target according to the sound information; Predicting, based on the special target and the position, whether the current vehicle will hinder the special target; When it is predicted that the current vehicle hinders the advancement of the special target, a voiceprint warning strategy to be used is determined according to the special target, so as to issue a warning based on the voiceprint warning strategy.

2. The method according to claim 1, characterized in that: The determining, based on the special target and the position, whether the current vehicle hinders the special target from moving forward comprises: Using the special target and the position, the surrounding environment information generated based on the image is updated to obtain updated surrounding environment information, wherein the image is collected by a camera on the current vehicle; Determining the first lane where the special target is located according to the updated surrounding environment information; Whether the current vehicle obstructs the special object from moving forward is determined according to the position of the current vehicle, the position of the special object, and the first lane.

3. The method according to claim 2, characterized in that: The determining, based on the position of the current vehicle, the position of the special target, and the first lane, whether the current vehicle obstructs the special target from advancing comprises: According to the position of the current vehicle, the position of the special target and the first lane, detecting whether the current vehicle is on the first lane and whether the current vehicle is in front of the special target, and obtaining a detection result; When the detection result is that the current vehicle is on the first lane and the current vehicle is in front of the special target, determining that the current vehicle is hindering the special target; When the detection result is that the current vehicle is on the first lane and the current vehicle is not in front of the special target, determining that the current vehicle is hindering the special target; When the detection result is that the current vehicle is not in the first lane, the second lane of the current vehicle is acquired, and whether the current vehicle hinders the special target from moving forward is determined according to the first lane and the second lane.

4. The method according to claim 3, characterized in that: The determining, based on the first lane and the second lane, whether the current vehicle obstructs the advancement of the special target includes: detecting whether the first lane and the second lane are parallel; When the first lane and the second lane are not parallel, determining whether there is an intersection where the current vehicle and the special target are about to pass together, and if so, determining that the current vehicle will hinder the special target from moving forward, and if not, determining that the current vehicle will not hinder the special target from moving forward; When the first lane and the second lane are parallel, it is determined that the current vehicle will not hinder the special target from moving forward.

5. The method according to claim 2, characterized in that: Determining the voiceprint warning strategy to be used according to the special target includes: Get the type of the special target; According to the type of the special target and the correspondence between the preset type and the voiceprint warning strategy, the voiceprint warning strategy corresponding to the special target is determined to obtain the voiceprint warning strategy to be used.

6. The method according to claim 1, characterized in that: Determining whether there is a special target around the current vehicle according to the sound information includes: Acquire sound feature data and credibility in the sound information, wherein the sound feature data includes decibel value, high frequency, low frequency and sound wave duration, and the credibility indicates the credibility of the sound information; Determine the sound source corresponding to the sound feature data according to the preset corresponding relationship between the sound feature data and the sound source; Detecting whether the sound-emitting body is a special target according to the type of the sound-emitting body; When the sound-emitting body is a special target, determining whether there is a special target around the current vehicle according to the credibility; When the sound-emitting body is not a special target, it is determined that no special target exists around the current vehicle.

7. The method according to claim 6, characterized in that: The sound information also includes a distance from the current vehicle, and determining whether there is a special target around the current vehicle according to the credibility includes: Determining the credibility threshold corresponding to the special target according to the type of the special target and the correspondence between the preset type and the credibility threshold; According to the type, the credibility threshold is adjusted to obtain an adjusted credibility threshold; When the credibility is greater than the adjusted credibility threshold, determining that there is a special target around the current vehicle; When the credibility is less than or equal to the adjusted credibility threshold, it is determined that no special target exists around the current vehicle.

8. A vehicle control device, characterized in that: The device comprises: A receiving unit, used for receiving sound information sent by multiple sound detection sensors on the current vehicle; A first determining unit, configured to determine whether there is a special target around the current vehicle according to the sound information; A second determining unit, configured to determine the position of the special target according to the sound information when the special target exists around the current vehicle; A prediction unit, configured to predict whether the current vehicle will hinder the special target from moving forward according to the special target and the position; The control unit is used to determine the voiceprint warning strategy to be used according to the special target when it is predicted that the current vehicle hinders the progress of the special target, so as to issue a warning based on the voiceprint warning strategy.

9. A vehicle control device, characterized in that: include: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor connected to the at least one bus; at least one memory connected to the at least one bus, wherein the processor is configured to: Receive sound information sent by multiple sound detection sensors on the current vehicle; Determining whether there is a special target around the current vehicle according to the sound information; When the special target exists around the current vehicle, determining the position of the special target according to the sound information; Predicting, based on the special target and the position, whether the current vehicle will hinder the special target; When it is predicted that the current vehicle hinders the advancement of the special target, a voiceprint warning strategy to be used is determined according to the special target, so as to issue a warning based on the voiceprint warning strategy.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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