Vehicle control method and device, medium and vehicle

Abstract

The invention relates to a vehicle control method and device, a medium and a vehicle. Relates to the field of vehicles. The method comprises the steps of determining a collision risk level of a vehicle under the condition that the vehicle is in a backing scene; and according to the collision risk level and the gear of the vehicle, controlling the vehicle and outputting a prompt message including a target angle and a target direction of rotating a steering wheel by the user to assist the user in driving. Different collision risk grades, different vehicle gears, corresponding anti-collision strategies and target angles and target directions of a steering wheel required to be rotated by a user when the vehicle is further driven are different. Therefore, the vehicle is controlled by combining the collision risk level of the vehicle and the gear of the vehicle, and anti-collision control can be reliably and safely carried out on the vehicle. And the prompt message including the target angle and the target direction of the steering wheel rotated by the user is output, so that the parking process of the user can be reliably guided in multiple scenes, and the driving convenience and the driving experience of the user are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular to a vehicle control method, device, medium and vehicle. Background Art

[0002] Vehicles are a common means of transportation in people's daily lives. With the development of technology, people pay more and more attention to the intelligence and safety of vehicles. When users drive a vehicle to reverse, the vehicle is prone to scratches, collisions and other accidents with surrounding obstacles due to the limited vision inside the vehicle and the user's driving skills.

[0003] In the related art, during the vehicle reversing process, emergency braking, collision warning and other methods are usually used to avoid impending accidents, which only protects the safety of the parking process, but does not provide further guidance to the user to enable the user to complete the parking action smoothly and safely. Therefore, it is particularly important to provide parking guidance to the user while protecting the safety of the vehicle so that the user can complete the parking action conveniently and safely. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, medium and vehicle, which can reliably and safely perform anti-collision control on the vehicle while further guiding the user's parking process in multiple scenarios, thereby improving convenience and user experience.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising:

[0006] When the vehicle is in a reversing scenario, determining a collision risk level of the vehicle;

[0007] According to the collision risk level and the gear position of the vehicle, the vehicle is controlled and a prompt message including a target angle and a target direction for the user to turn the steering wheel is output to assist the user in driving.

[0008] Optionally, determining the collision risk level of the vehicle includes:

[0009] determining a distance between the vehicle and an obstacle in an environment in which the vehicle is located;

[0010] If the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to a first preset distance, determining that the collision risk level of the vehicle is a first collision risk level;

[0011] If the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to a second preset distance, determining that the collision risk level of the vehicle is a secondary collision risk level;

[0012] If the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to a third preset distance, determining that the collision risk level of the vehicle is a third collision risk level;

[0013] The second preset distance is smaller than the first preset distance and larger than the third preset distance.

[0014] Optionally, the method further comprises:

[0015] When the collision risk level of the vehicle is the first-level collision risk level, the vehicle speed is controlled to be reduced and a first prompt message is output, wherein the first prompt message includes the distance between the vehicle and an obstacle in the environment in which the vehicle is located and image information of the environment in which the vehicle is located.

[0016] Optionally, controlling the vehicle and outputting a prompt message including a target angle and a target direction for a user to turn a steering wheel according to the collision risk level and the gear position of the vehicle comprises:

[0017] When the collision risk level of the vehicle is the secondary collision risk level, the vehicle is braked and a second prompt message including a target angle and a target direction for the user to turn the steering wheel is output according to the gear position of the vehicle.

[0018] Optionally, outputting a second prompt message including a target angle and a target direction for the user to turn the steering wheel according to the gear position of the vehicle includes:

[0019] If the vehicle gear is in reverse gear, outputting a second prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in reverse gear mode;

[0020] If the vehicle gear is the forward gear, a second prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in the forward gear mode is output.

[0021] Optionally, the controlling the vehicle and outputting a prompt message including a target angle and a target direction for the user to turn the steering wheel according to the collision risk level and the gear position of the vehicle further includes:

[0022] When the collision risk level of the vehicle is the third level collision risk level, controlling the vehicle to brake and controlling the accelerator pedal of the vehicle to fail;

[0023] Determining whether to allow continued parking according to the distance between the vehicle and obstacles in the environment in which the vehicle is located and image information of the environment in which the vehicle is located;

[0024] A third prompt message including a target angle and a target direction for the user to turn the steering wheel is output according to the judgment result and the gear position of the vehicle.

[0025] Optionally, outputting a third prompt message including a target angle and a target direction for the user to turn the steering wheel according to the judgment result and the gear position of the vehicle includes:

[0026] If it is determined that continued parking is allowed and the vehicle gear is in reverse gear, a third prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in reverse gear mode and a target opening degree for the user to step on the brake pedal is output;

[0027] If it is determined that continued parking is not allowed, outputting a fourth prompt message for reminding the user to switch the gear to the forward gear;

[0028] When the vehicle gear is in the forward gear, outputting a third prompt message including a target angle and a target direction of the steering wheel turned by the user when the vehicle is in the forward gear mode, a target opening of the brake pedal stepped on by the user, and a target opening of the accelerator stepped on by the user;

[0029] The output of the third prompt message including the target angle and target direction of the steering wheel turned by the user, the target opening of the brake pedal stepped on by the user, and the target opening of the accelerator stepped on by the user when the vehicle is in the forward gear mode is stopped until any one of the following is satisfied:

[0030] Receiving a stop prompt instruction triggered by the user;

[0031] The gear position of the vehicle is a parking gear position.

[0032] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, the device comprising:

[0033] a determination module configured to determine a collision risk level of the vehicle when the vehicle is in a reversing scenario;

[0034] The first control module is configured to control the vehicle and output a prompt message including a target angle and a target direction for the user to turn the steering wheel according to the collision risk level and the gear position of the vehicle, so as to assist the user in driving.

[0035] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a first processor, the steps of the vehicle control method provided by the first aspect of the present disclosure are implemented.

[0036] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

[0037] A second processor;

[0038] a second memory for storing instructions executable by the second processor;

[0039] Wherein, the second processor is configured as follows:

[0040] The steps for implementing the vehicle control method provided in the first aspect of the present disclosure are as follows.

[0041] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: when the vehicle is in a reversing scene, the collision risk level of the vehicle is determined, and according to the collision risk level and the gear position of the vehicle, the vehicle is controlled and a prompt message including the target angle and target direction of the user turning the steering wheel is output to assist the user in driving. In this solution, the collision risk level of the vehicle represents the possibility of the vehicle colliding. The higher the collision risk level, the greater the possibility of the vehicle colliding during the reversing process. The gear position of the vehicle is different, and the driving direction of the vehicle is different (reversing or moving forward). The target angle and target direction of the steering wheel turned by the user represent the angle and direction of the steering wheel that the user needs to turn when the vehicle is driving under the premise of avoiding a collision. Different collision risk levels and different vehicle gear positions correspond to different anti-collision strategies and the target angle and target direction of the steering wheel that the user needs to turn when the vehicle is driving. Therefore, in combination with the collision risk level of the vehicle and the gear position of the vehicle, the vehicle can be reliably and safely controlled for anti-collision, thereby improving safety. And by outputting a prompt message including the target angle and target direction of the user turning the steering wheel, the user's parking process can be further reliably guided in multiple scenarios, thereby improving driving convenience and user driving experience, and enriching strategies.

[0042] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0044] Figure 1 is a flow chart of a vehicle control method according to an exemplary embodiment;

[0045] Figure 2 is a block diagram of a vehicle control device according to an exemplary embodiment;

[0046] Figure 3 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0047] 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, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0048] It should be noted that all actions of acquiring signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0049] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 1 As shown, the method includes the following steps.

[0050] In step S101 , when the vehicle is in a reversing scenario, a collision risk level of the vehicle is determined.

[0051] For example, when it is recognized that the gear signal of the vehicle is in reverse gear, it can be determined that the vehicle is in a reversing scenario.

[0052] The collision risk of a vehicle can include multiple levels, for example, it can be divided into three levels: high, medium, and low. The higher the collision risk level, the greater the possibility that the vehicle will collide with obstacles in the vehicle's environment. When the user drives the vehicle to reverse, the vehicle is prone to scratches, collisions, and other accidents with surrounding obstacles due to the limited field of view in the vehicle and the user's driving skills. Therefore, the collision risk level of the vehicle can be determined first.

[0053] In step S102, according to the collision risk level and the gear position of the vehicle, the vehicle is controlled and a prompt message including a target angle and a target direction for the user to turn the steering wheel is output to assist the user in driving.

[0054] The gears of the vehicle may include forward gears and reverse gears, and different gears correspond to different directions of travel of the vehicle. The target angle and target direction of the steering wheel turned by the user represent the angle and direction that the user needs to turn the steering wheel when the vehicle is traveling under the premise of avoiding a collision.

[0055] Different collision risk levels correspond to different probabilities of collision, so different anti-collision strategies can be adopted (such as controlling vehicle braking, etc.). Different probabilities of collision can be considered to be different distances between the vehicle and obstacles in the vehicle's environment, different gear positions of the vehicle correspond to different directions of travel of the vehicle, different distances between the vehicle and obstacles and different directions of travel of the vehicle, etc., when the vehicle continues to travel, in order to avoid a collision, the target angle and target direction that the user needs to turn the steering wheel are different. Therefore, according to the collision risk level and the gear position of the vehicle, the vehicle can be controlled and a prompt message including the target angle and target direction for the user to turn the steering wheel can be output, so that after the vehicle is controlled for anti-collision, the user can further turn the steering wheel according to the prompt message to complete parking.

[0056] Exemplarily, the prompt message may be output in the form of animation and / or sound. For example, an animation including a target steering direction and a target steering angle may be output on the central control screen of the vehicle. The speaker inside the vehicle may also be controlled to output a voice prompt message "Turn the steering wheel 45° to the left", and when the direction and angle of the steering wheel turned by the user are consistent with the target direction and target angle, the speaker may be controlled to emit a "beep, beep, beep" prompt message to remind the user.

[0057] Through the above technical solution, when the vehicle is in a reversing scene, the collision risk level of the vehicle is determined, and according to the collision risk level and the gear position of the vehicle, the vehicle is controlled and a prompt message including the target angle and target direction of the user turning the steering wheel is output to assist the user in driving. In this solution, the collision risk level of the vehicle represents the possibility of the vehicle colliding. The higher the collision risk level, the greater the possibility of the vehicle colliding during the reversing process. The gear position of the vehicle is different, and the driving direction of the vehicle is different (reversing or forward). The target angle and target direction of the steering wheel turned by the user represent the angle and direction of the steering wheel that the user needs to turn when the vehicle is driving under the premise of avoiding a collision. Different collision risk levels and different vehicle gear positions correspond to different anti-collision strategies and the target angle and target direction of the steering wheel that the user needs to turn when the vehicle is driving. Therefore, combined with the collision risk level of the vehicle and the gear position of the vehicle, the vehicle can be reliably and safely controlled for anti-collision, thereby improving safety. And by outputting a prompt message including the target angle and target direction of the user turning the steering wheel, the user's parking process can be further reliably guided in multiple scenarios, improving driving convenience and user driving experience, and enriching strategies.

[0058] In yet another embodiment, the above-mentioned determining the collision risk level of the vehicle includes:

[0059] determining the distance between the vehicle and obstacles in the vehicle's environment;

[0060] If the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to the first preset distance, the collision risk level of the vehicle is determined to be a first collision risk level;

[0061] If the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to the second preset distance, the collision risk level of the vehicle is determined to be a secondary collision risk level;

[0062] If the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to the third preset distance, the collision risk level of the vehicle is determined to be a third collision risk level;

[0063] The second preset distance is smaller than the first preset distance and larger than the third preset distance.

[0064] For example, the distance between the vehicle and obstacles in the environment where the vehicle is located can be obtained by radars and cameras arranged around the vehicle body. There may be multiple obstacles in the environment where the vehicle is located, and the distance between each obstacle and the vehicle can be determined.

[0065] The possibility of a collision at the second collision risk level is greater than the possibility of a collision at the first collision risk level and is less than the possibility of a collision at the third collision risk level.

[0066] The first preset distance may be preset by a designer, for example, 1.5 m. When the distance between the vehicle and an obstacle in the environment where the vehicle is located is less than or equal to the first preset distance, it can be considered that the distance between the vehicle and the obstacle is relatively close and a collision may occur, and the collision risk level of the vehicle can be determined to be a first-level collision risk level.

[0067] The second preset distance can be preset by the designer, for example, it can be 0.5m. When the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to the second preset distance, it can be considered that the distance between the vehicle and the obstacle is particularly close. If no corresponding measures are taken to continue driving, the possibility of collision is high, and the collision risk level of the vehicle can be determined as the second collision risk level.

[0068] The third preset distance can be preset by the designer, for example, 5 cm. When the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to the third preset distance, it can be considered that the distance between the vehicle and the obstacle is very close, and the possibility of collision is very high, and the collision risk level of the vehicle can be determined as the third collision risk level.

[0069] In this embodiment, by determining the distance between the vehicle and obstacles in the environment in which the vehicle is located, the collision risk level of the vehicle can be reliably and accurately determined by using a threshold comparison method. The method is simple and has a fast calculation speed.

[0070] In yet another embodiment, the above method further includes:

[0071] When the collision risk level of the vehicle is the first collision risk level, the vehicle speed is controlled to be reduced and a first prompt message is output, wherein the first prompt message includes the distance between the vehicle and an obstacle in the environment where the vehicle is located and image information of the environment where the vehicle is located.

[0072] When the collision risk level of the vehicle is the first collision risk level, the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to the first preset distance (for example, 1.5m), it can be considered that the distance between the vehicle and the obstacle is relatively close. If the vehicle continues to drive, a collision may occur. The speed of the vehicle can be controlled to reduce, thereby extending the time for the vehicle to reach the obstacle. At the same time, a first prompt message including the distance between the vehicle and the obstacle in the environment where the vehicle is located and the image information of the environment where the vehicle is located is output to remind the user.

[0073] For example, the first prompt message can be output in the form of images and text. For example, a pop-up message "The distance between the vehicle and the obstacle in the environment where the vehicle is located is 1.5m" can be controlled on the central control screen of the vehicle, and a video image of the environment where the vehicle is located can be output at the same time.

[0074] In this embodiment, when the collision risk level of the vehicle is the first collision risk level, the time for the vehicle to reach the obstacle can be extended by controlling the vehicle speed to reduce, thereby increasing the user's reaction time. And by outputting the first prompt message including the distance between the vehicle and the obstacle in the vehicle's environment and the image information of the vehicle's environment, the user can be reliably and timely reminded, so that the user can take corresponding measures in time, thereby improving safety.

[0075] In yet another embodiment, the above-mentioned controlling the vehicle and outputting a prompt message including a target angle and a target direction for the user to turn the steering wheel according to the collision risk level and the gear position of the vehicle includes:

[0076] When the collision risk level of the vehicle is the secondary collision risk level, the vehicle is braked and a second prompt message including a target angle and a target direction for the user to turn the steering wheel is output according to the gear position of the vehicle.

[0077] When the collision risk level of the vehicle is the second collision risk level, the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to the second preset distance (for example, 0.5m), it can be considered that the distance between the vehicle and the obstacle is particularly close. If no corresponding measures are taken and the vehicle continues to drive, the possibility of a collision is high. Therefore, the vehicle braking can be controlled to avoid the vehicle continuing to drive and causing a collision. After the vehicle brakes, a second prompt message of the target angle and target direction that the user needs to turn the steering wheel when the vehicle continues to drive can be output in combination with the gear position of the vehicle. The second prompt message is a prompt message used to prompt the user of the steering wheel turning direction and turning angle when the vehicle continues to drive after braking when the collision risk level of the vehicle is the second collision risk level.

[0078] The driving directions of vehicles in different gears are different, and the angles and directions that the user needs to turn the steering wheel to when the vehicle continues to drive after braking are different. Therefore, in another embodiment, the second prompt message including the target angle and target direction for the user to turn the steering wheel according to the gear position of the vehicle includes:

[0079] If the vehicle is in reverse gear, outputting a second prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in reverse gear mode;

[0080] If the vehicle gear is in the forward gear, a second prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in the forward gear mode is output.

[0081] If the gear of the vehicle remains in reverse gear after the vehicle is braked, it can be considered that the user needs to continue to reverse, and thus the target angle and target direction of the steering wheel that the user needs to turn to continue to complete the reverse are determined based on the distance between the vehicle and the obstacle in the vehicle's environment and the image information of the vehicle's environment, thereby outputting a second prompt message including the target angle and target direction of the steering wheel that the user needs to turn to continue to complete the reverse, to assist the user in completing the parking. The designer can pre-set the scene model based on experience, and use the scene model to determine the target angle and target direction of the steering wheel that the user needs to turn to continue to complete the reverse according to the distance between the vehicle and the obstacle in the vehicle's environment and the image information of the vehicle's environment.

[0082] If the gear of the vehicle is switched to the forward gear after the vehicle is braked, it can be considered that the user has stopped reversing and needs to get out of the vehicle. Therefore, the target angle and target direction that the user needs to turn the steering wheel when the vehicle is moving forward are determined by using the scene model according to the distance between the vehicle and obstacles in the vehicle environment and the image information of the vehicle environment, so as to output a second prompt message including the target angle and target direction that the user needs to turn the steering wheel when the vehicle is moving forward, so as to assist the user in getting out of the vehicle.

[0083] In this embodiment, when the collision risk level of the vehicle is the second collision risk level, the vehicle is braked to reliably and effectively avoid a collision of the vehicle, thereby improving safety. Furthermore, by outputting a second prompt message including a target angle and a target direction that the user needs to turn the steering wheel when the vehicle continues to travel in different gears, the user can be reliably and effectively guided in multiple driving scenarios to avoid a collision of the vehicle during driving.

[0084] In yet another embodiment, the above-mentioned controlling the vehicle and outputting a prompt message including a target angle and a target direction for the user to turn the steering wheel according to the collision risk level and the gear position of the vehicle further includes:

[0085] When the collision risk level of the vehicle is level 3, the vehicle is braked and the accelerator pedal of the vehicle is disabled;

[0086] Determining whether to allow continued parking based on the distance between the vehicle and obstacles in the vehicle's environment and image information of the vehicle's environment;

[0087] A third prompt message including a target angle and a target direction for the user to turn the steering wheel is output according to the judgment result and the gear position of the vehicle.

[0088] When the vehicle's collision risk level is the third collision risk level, and the distance between the vehicle and an obstacle in the vehicle's environment is less than or equal to a third preset distance (for example, 5 cm), it can be considered that the distance between the vehicle and the obstacle is extremely close, and the possibility of a collision is very high when the user continues to reverse. Therefore, the vehicle's braking can be controlled and the vehicle's accelerator pedal can be controlled to fail, so as to prevent the vehicle from colliding due to user misoperation.

[0089] After the vehicle brakes are controlled and the accelerator pedal of the vehicle fails, it is firstly determined whether to allow continued parking based on the distance between the vehicle and obstacles in the environment where the vehicle is located and image information of the environment where the vehicle is located.

[0090] Different judgment results and different gears correspond to different target angles and target directions of the steering wheel that the vehicle needs to turn when continuing to drive. Therefore, further, in another embodiment, the third prompt message including the target angle and target direction of the steering wheel that the user needs to turn according to the judgment result and the gear position of the vehicle includes:

[0091] If it is determined that continued parking is allowed and the vehicle gear is in reverse gear, a third prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in reverse gear mode and a target opening degree for the user to step on the brake pedal is output;

[0092] If it is determined that continued parking is not allowed, outputting a fourth prompt message for reminding the user to switch the gear to the forward gear;

[0093] When the vehicle is in the forward gear, outputting a third prompt message including a target angle and a target direction of the user turning the steering wheel when the vehicle is in the forward gear mode, a target opening of the user stepping on the brake pedal, and a target opening of the user stepping on the accelerator;

[0094] The output of the third prompt message including the target angle and target direction of the steering wheel turned by the user when the vehicle is in the forward gear mode, the target opening degree of the brake pedal stepped on by the user, and the target opening degree of the accelerator stepped on by the user is stopped until any one of the following is satisfied:

[0095] Receiving a stop prompt command triggered by a user;

[0096] The vehicle is in the parking position.

[0097] When it is determined that continued parking is allowed and the vehicle is in reverse gear, it can be considered that the user needs to continue reversing. The scene model is used to determine the target angle and target direction for the user to turn the steering wheel to continue reversing based on the distance between the vehicle and obstacles in the vehicle's environment and the image information of the vehicle's environment. A third prompt message is output, including the target angle and target direction for the user to turn the steering wheel to continue reversing and the target opening of the user's brake pedal, to assist the user in completing parking.

[0098] Exemplarily, a third prompt message including the target angle and target direction of the steering wheel that the user needs to turn when continuing to reverse, and the target opening of the brake pedal that the user steps on, can be output by voice. For example, the speaker in the car can be controlled to output a voice prompt message "Please turn the steering wheel 70° to the left, and please step on the brake pedal to open 10%". When the direction and angle of the steering wheel turned by the user are the same as the target direction and target angle, respectively, the speaker in the car is controlled to output a voice prompt message "beep, beep, beep" to remind the user. When the user's foot-stepping brake pedal opening is the same as the target opening, the speaker in the car is controlled to output a voice prompt message "Please keep the brake pedal opening unchanged" to remind the user.

[0099] For example, the fourth prompt message can be output in the form of text or voice. For example, a pop-up message "Limited space, please stop reversing and switch gear to forward gear" can be output on the central control screen of the vehicle. The speaker inside the vehicle can also be controlled to output a voice prompt "Limited space, please stop reversing and switch gear to forward gear".

[0100] When the user controls the vehicle to switch the gear to the forward gear in response to the fourth prompt message, it can be considered that the user has stopped reversing. Thus, the target angle and target direction of the steering wheel that the user needs to turn when the vehicle is moving forward are determined using the scene model according to the distance between the vehicle and obstacles in the vehicle's environment and image information of the vehicle's environment, and the target opening of the brake pedal or the target opening of the accelerator that the user steps on during real-time driving, and a third prompt message including the target angle and target direction of the steering wheel that the user needs to turn when the vehicle is moving forward, and the target opening of the brake pedal or the target opening of the accelerator that the user steps on, is output to assist the user in getting out of the vehicle.

[0101] Exemplarily, a third prompt message including the target angle and target direction of the steering wheel that the user needs to turn when leaving the vehicle, the target opening of the brake pedal that the user steps on, or the target opening of the accelerator pedal that the user steps on can be output by voice. For example, the speaker in the car can be controlled to output a voice prompt message "Please turn the steering wheel 90° to the right, and step on the accelerator pedal to open 20%". When the direction and angle of the steering wheel turned by the user are respectively the same as the target direction and target angle, the speaker in the car is controlled to output a voice prompt message "beep, beep, beep" to remind the user. When the opening of the accelerator pedal that the user steps on is the same as the target opening, the speaker in the car is controlled to output a voice prompt message "Please keep the accelerator pedal opening unchanged" to remind the user, thereby assisting the user to leave the vehicle smoothly.

[0102] When a parking instruction triggered by the user is received, it can be considered that the user does not need auxiliary prompts, and the output of the third prompt message including the target angle and target direction of the user turning the steering wheel when the vehicle is in the forward gear mode, the target opening of the user stepping on the brake pedal, and the target opening of the user stepping on the accelerator can be stopped.

[0103] When the vehicle is in the parking gear, it can be considered that the vehicle has stopped moving, and the output of the third prompt message including the target angle and target direction of the user turning the steering wheel when the vehicle is in the forward gear mode, the target opening of the user stepping on the brake pedal, and the target opening of the user stepping on the accelerator can be stopped.

[0104] In this embodiment, when the collision risk level of the vehicle is the third collision risk level, the vehicle brakes are controlled and the accelerator pedal is disabled, which can reliably and effectively avoid the vehicle from colliding and prevent users from operating incorrectly, thereby improving safety. In addition, by outputting different types of third prompt messages in different gears, users can be reliably and effectively guided in multiple driving scenarios to avoid collisions during driving.

[0105] Based on the same inventive concept, the present disclosure also provides a vehicle control device. Figure 2 FIG. 1 is a block diagram of a vehicle control device according to an exemplary embodiment. Figure 2As shown, the vehicle control device 200 includes a determination module 201 and a first control device 202 .

[0106] The determination module 201 is configured to determine the collision risk level of the vehicle when the vehicle is in a reversing scenario.

[0107] The first control module 202 is configured to control the vehicle and output a prompt message including a target angle and a target direction for the user to turn the steering wheel according to the collision risk level and the gear position of the vehicle, so as to assist the user in driving.

[0108] Optionally, the determination module 201 includes a first determination submodule, a second determination submodule, a third determination submodule and a fourth determination submodule.

[0109] The first determination submodule is configured to determine a distance between the vehicle and an obstacle in an environment where the vehicle is located.

[0110] The second determination submodule is configured to determine that the collision risk level of the vehicle is a level one collision risk level if the distance between the vehicle and an obstacle in the environment in which the vehicle is located is less than or equal to a first preset distance.

[0111] The third determination submodule is configured to determine that the collision risk level of the vehicle is a secondary collision risk level if the distance between the vehicle and an obstacle in the environment in which the vehicle is located is less than or equal to a second preset distance.

[0112] The fourth determination submodule is configured to determine that the collision risk level of the vehicle is a third collision risk level if the distance between the vehicle and an obstacle in the environment in which the vehicle is located is less than or equal to a third preset distance.

[0113] The second preset distance is smaller than the first preset distance and larger than the third preset distance.

[0114] Optionally, the vehicle control device 200 further includes a second control module.

[0115] The second control module is configured to control the vehicle's speed to be reduced and output a first prompt message when the vehicle's collision risk level is a level one collision risk level. The first prompt message includes the distance between the vehicle and an obstacle in the vehicle's environment and image information of the vehicle's environment.

[0116] Optionally, the first control module 201 includes a first control submodule.

[0117] The first control submodule is configured to control the vehicle braking when the collision risk level of the vehicle is a level 2 collision risk level, and output a second prompt message including a target angle and a target direction for the user to turn the steering wheel according to the gear position of the vehicle.

[0118] Optionally, the first control submodule is further configured to:

[0119] If the vehicle is in reverse gear, outputting a second prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in reverse gear mode;

[0120] If the vehicle gear is in the forward gear, a second prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in the forward gear mode is output.

[0121] Optionally, the first control module 201 further includes a second control submodule, a judgment submodule and an output submodule.

[0122] The second control submodule is configured to control the vehicle to brake and to disable the accelerator pedal of the vehicle when the collision risk level of the vehicle is a level three collision risk level.

[0123] The judgment submodule is configured to judge whether to allow continued parking according to the distance between the vehicle and obstacles in the environment in which the vehicle is located and the image information of the environment in which the vehicle is located.

[0124] The output submodule is configured to output a third prompt message including a target angle and a target direction for the user to turn the steering wheel according to the judgment result and the gear position of the vehicle.

[0125] Optionally, the output submodule is further configured as:

[0126] If it is determined that continued parking is allowed and the vehicle gear is in reverse gear, a third prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in reverse gear mode and a target opening degree for the user to step on the brake pedal is output;

[0127] If it is determined that continued parking is not allowed, outputting a fourth prompt message for reminding the user to switch the gear to the forward gear;

[0128] When the vehicle is in the forward gear, outputting a third prompt message including a target angle and a target direction of the user turning the steering wheel when the vehicle is in the forward gear mode, a target opening of the user stepping on the brake pedal, and a target opening of the user stepping on the accelerator;

[0129] The output of the third prompt message including the target angle and target direction of the steering wheel turned by the user when the vehicle is in the forward gear mode, the target opening degree of the brake pedal stepped on by the user, and the target opening degree of the accelerator stepped on by the user is stopped until any one of the following is satisfied:

[0130] Receiving a stop prompt command triggered by a user;

[0131] The vehicle is in the parking position.

[0132] By adopting the above technical scheme, when the vehicle is in a reversing scene, the collision risk level of the vehicle is determined, and according to the collision risk level and the gear position of the vehicle, the vehicle is controlled and a prompt message including the target angle and target direction of the steering wheel turned by the user is output to assist the user in driving. In this scheme, the collision risk level of the vehicle represents the possibility of collision of the vehicle. The higher the collision risk level, the greater the possibility of collision during the reversing process of the vehicle. The gear position of the vehicle is different, and the driving direction of the vehicle is different (reversing or forward). The target angle and target direction of the steering wheel turned by the user are the angle and direction of the steering wheel turned by the user to avoid collision. Different collision risk levels and different vehicle gear positions correspond to different anti-collision strategies and the target angle and target direction of the steering wheel turned by the user to further complete the reversing action. Therefore, by controlling the vehicle in combination with the collision risk level of the vehicle and the gear position of the vehicle, the vehicle can be reliably and safely controlled for anti-collision, thereby improving safety. And by outputting a prompt message including the target angle and target direction of the steering wheel turned by the user, the user's parking process can be further reliably guided in multiple scenarios, thereby improving driving convenience and user driving experience, and enriching strategies.

[0133] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, which implement the steps of the vehicle control method provided by the present disclosure when the program instructions are executed by a first processor.

[0134] The present disclosure also provides a vehicle, comprising:

[0135] A second processor;

[0136] a second memory for storing second processor executable instructions;

[0137] Wherein, the second processor is configured as:

[0138] The steps for implementing the vehicle control method provided by the present disclosure are as follows.

[0139] Figure 3 600 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0140] Reference Figure 3, the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.

[0141] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.

[0142] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0143] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0144] The drive system 640 may include components that provide powered motion for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0145] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one second processor 651 and a second memory 652, and the second processor 651 may execute instructions 653 stored in the second memory 652.

[0146] The second processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0147] The second memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0148] In addition to the instructions 653 , the second memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the second memory 652 may be used by the computing platform 650 .

[0149] In the embodiment of the present disclosure, the second processor 651 can execute instruction 653 to complete all or part of the steps of the above-mentioned vehicle control method.

[0150] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0151] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0152] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: When the vehicle is in a reversing scenario, determining a collision risk level of the vehicle; According to the collision risk level and the gear position of the vehicle, the vehicle is controlled and a prompt message including a target angle and a target direction for the user to turn the steering wheel is output to assist the user in driving.

2. The method according to claim 1, characterized in that Determining the collision risk level of the vehicle includes: determining a distance between the vehicle and an obstacle in an environment in which the vehicle is located; If the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to a first preset distance, determining that the collision risk level of the vehicle is a first collision risk level; If the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to a second preset distance, determining that the collision risk level of the vehicle is a secondary collision risk level; If the distance between the vehicle and the obstacle in the environment where the vehicle is located is less than or equal to a third preset distance, determining that the collision risk level of the vehicle is a third collision risk level; The second preset distance is smaller than the first preset distance and larger than the third preset distance.

3. The method according to claim 2, characterized in that The method further comprises: When the collision risk level of the vehicle is the first-level collision risk level, the vehicle speed is controlled to be reduced and a first prompt message is output, wherein the first prompt message includes the distance between the vehicle and an obstacle in the environment in which the vehicle is located and image information of the environment in which the vehicle is located.

4. The method according to claim 2, characterized in that: The controlling the vehicle and outputting a prompt message including a target angle and a target direction for a user to turn a steering wheel according to the collision risk level and the gear position of the vehicle comprises: When the collision risk level of the vehicle is the secondary collision risk level, the vehicle is braked and a second prompt message including a target angle and a target direction for the user to turn the steering wheel is output according to the gear position of the vehicle.

5. The method according to claim 4, characterized in that The outputting, according to the gear position of the vehicle, a second prompt message including a target angle and a target direction for the user to turn the steering wheel comprises: If the vehicle gear is in reverse gear, outputting a second prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in reverse gear mode; If the vehicle gear is the forward gear, a second prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in the forward gear mode is output.

6. The method according to claim 2, characterized in that The method of controlling the vehicle and outputting a prompt message including a target angle and a target direction for a user to turn a steering wheel according to the collision risk level and the gear position of the vehicle further includes: When the collision risk level of the vehicle is the third level collision risk level, controlling the vehicle to brake and controlling the accelerator pedal of the vehicle to fail; Determining whether to allow continued parking according to the distance between the vehicle and obstacles in the environment in which the vehicle is located and image information of the environment in which the vehicle is located; A third prompt message including a target angle and a target direction for the user to turn the steering wheel is output according to the judgment result and the gear position of the vehicle.

7. The method according to claim 6, characterized in that The outputting of a third prompt message including a target angle and a target direction for the user to turn the steering wheel according to the judgment result and the gear position of the vehicle comprises: If it is determined that continued parking is allowed and the vehicle gear is in reverse gear, a third prompt message including a target angle and a target direction for the user to turn the steering wheel when the vehicle is in reverse gear mode and a target opening degree for the user to step on the brake pedal is output; If it is determined that continued parking is not allowed, outputting a fourth prompt message for reminding the user to switch the gear to the forward gear; When the vehicle gear is in the forward gear, outputting a third prompt message including a target angle and a target direction of the steering wheel turned by the user when the vehicle is in the forward gear mode, a target opening of the brake pedal stepped on by the user, and a target opening of the accelerator stepped on by the user; The output of the third prompt message including the target angle and target direction of the steering wheel turned by the user, the target opening of the brake pedal stepped on by the user, and the target opening of the accelerator stepped on by the user when the vehicle is in the forward gear mode is stopped until any one of the following is satisfied: Receiving a stop prompt instruction triggered by the user; The gear position of the vehicle is a parking gear position.

8. A vehicle control device, characterized in that: The device comprises: a determination module configured to determine a collision risk level of the vehicle when the vehicle is in a reversing scenario; The first control module is configured to control the vehicle and output a prompt message including a target angle and a target direction for the user to turn the steering wheel according to the collision risk level and the gear position of the vehicle, so as to assist the user in driving.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by the first processor, the steps of the method described in any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: include: A second processor; a second memory for storing instructions executable by the second processor; Wherein, the second processor is configured as: Implement the steps of the method according to any one of claims 1 to 7.

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