Vehicle control methods, devices, media and vehicles

Abstract

This disclosure relates to a vehicle control method, apparatus, medium, and vehicle. It pertains to the field of vehicles. The method includes: determining the collision risk level of the vehicle in a reversing scenario; controlling the vehicle and outputting a prompt message including the target angle and target direction of the steering wheel rotation for the user, based on the collision risk level and the vehicle's current gear, to assist the user in driving. Different collision risk levels and different vehicle gears correspond to different collision avoidance strategies and different target angles and directions of the steering wheel rotation required by the user for further vehicle movement. Therefore, by controlling the vehicle in conjunction with its collision risk level and current gear, reliable and safe collision avoidance control can be achieved. Furthermore, by outputting a prompt message including the target angle and target direction of the steering wheel rotation for the user, reliable guidance can be provided to the user during parking in multiple scenarios, improving driving convenience and the user's driving experience.

Description

Technical Field

[0001] This disclosure relates to the field of vehicles, and more particularly to a vehicle control method, apparatus, medium, and vehicle. Background Technology

[0002] Vehicles are a common means of transportation in people's daily lives. With the development of technology, people are paying more and more attention to the intelligence and safety of vehicles. When a user is reversing, due to limited visibility inside the vehicle and the user's driving skill level, the vehicle is prone to scraping or colliding with surrounding obstacles.

[0003] In related technologies, emergency braking and collision warnings are typically used during vehicle reversing to prevent impending accidents. These measures only ensure the safety of the parking process and do not provide further guidance to the user to ensure a smooth and safe parking experience. Therefore, it is crucial to provide parking guidance to users while protecting vehicle safety, enabling them to park conveniently and safely. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a vehicle control method, device, medium, and vehicle that can reliably and safely perform collision avoidance 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 the present disclosure, a vehicle control method is provided, comprising:

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

[0007] Based on the collision risk level and the vehicle's gear position, the system controls the vehicle and outputs prompts including the target angle and direction of the steering wheel rotation to assist the user in driving.

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

[0009] Determine the distance between the vehicle and obstacles in the environment in which the vehicle is located;

[0010] 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, then the collision risk level of the vehicle is determined to be Level 1 collision risk level.

[0011] 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, then the collision risk level of the vehicle is determined to be a level two collision risk level.

[0012] 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, then the collision risk level of the vehicle is determined to be a level three collision risk level.

[0013] Wherein, the second preset distance is less than the first preset distance and greater than the third preset distance.

[0014] Optionally, the method further includes:

[0015] When the collision risk level of the vehicle is the Level 1 collision risk level, the vehicle speed is reduced and a first warning message is output. The first warning message includes the distance between the vehicle and obstacles in the environment in which the vehicle is located, as well as image information of the environment in which the vehicle is located.

[0016] Optionally, the step of controlling the vehicle and outputting a prompt message including the target angle and target direction of the user turning the steering wheel, based on the collision risk level and the vehicle's current gear, includes:

[0017] If the collision risk level of the vehicle is the Level 2 collision risk level, control the vehicle to brake and output a second prompt message including the target angle and target direction of the user turning the steering wheel according to the gear position of the vehicle.

[0018] Optionally, the step of outputting a second prompt message based on the vehicle's current gear position, including the target angle and target direction of the user turning the steering wheel, includes:

[0019] If the vehicle is in reverse gear, a second prompt message is output, including the target angle and target direction of the user turning the steering wheel when the vehicle is in reverse gear mode.

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

[0021] Optionally, the step of controlling the vehicle and outputting a prompt message including the target angle and target direction of the user turning the steering wheel based on the collision risk level and the vehicle's gear position further includes:

[0022] If the collision risk level of the vehicle is the third-level collision risk level, control the vehicle to brake and control the accelerator pedal of the vehicle to be disabled.

[0023] Whether to allow continued parking is determined based on the distance between the vehicle and obstacles in the environment in which the vehicle is located, as well as image information of the environment in which the vehicle is located;

[0024] Based on the judgment result and the vehicle's current gear position, a third prompt message is output, including the target angle and target direction for the user to turn the steering wheel.

[0025] Optionally, the step of outputting a third prompt message based on the judgment result and the vehicle's current gear position, including the target angle and target direction of the user turning the steering wheel, includes:

[0026] If it is determined that continued parking is permitted and the vehicle is in reverse gear, a third prompt message is output, including the target angle and target direction of the user turning the steering wheel when the vehicle is in reverse gear mode, and the target opening degree of the user pressing the brake pedal.

[0027] If it is determined that parking is not allowed, a fourth prompt message will be output to remind the user to shift to a forward gear;

[0028] When the vehicle is in a forward gear, a third prompt message is output, including the target angle and target direction of the user turning the steering wheel, the target opening of the user pressing the brake pedal, and the target opening of the user pressing the accelerator pedal.

[0029] The output of a third prompt message, including the target angle and direction of the user turning the steering wheel when the vehicle is in forward gear mode, the target opening degree of the user pressing the brake pedal, and the target opening degree of the user pressing the accelerator pedal, will cease when any one of the following conditions is met:

[0030] Received the stop prompt command triggered by the user;

[0031] The vehicle is in parking gear.

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

[0033] The determination module is configured to determine the 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 prompt messages including the target angle and target direction of the steering wheel turned by the user, based on the collision risk level and the gear position of the vehicle, to assist the user in driving.

[0035] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, having stored thereon computer program instructions that, when executed by a first processor, implement the steps of the vehicle control method provided in the first aspect of the present disclosure.

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

[0037] Second processor;

[0038] A second memory for storing executable instructions of the second processor;

[0039] The second processor is configured as follows:

[0040] Steps for implementing the vehicle control method provided in the first aspect of this disclosure.

[0041] The technical solutions provided by the embodiments of this disclosure can include the following beneficial effects: when a vehicle is in a reversing scenario, the collision risk level of the vehicle is determined, and based on the collision risk level and the vehicle's gear position, the vehicle is controlled and a prompt message including the target angle and target direction of the user's steering wheel rotation is output to assist the user in driving. In this solution, the collision risk level of the vehicle represents the probability of a collision; the higher the collision risk level, the greater the probability of a collision during reversing. Different gear positions result in different driving directions (reversing or forward). The target angle and target direction of the user's steering wheel rotation represent the angle and direction the user needs to turn the steering wheel to avoid a collision while driving. Different collision risk levels and different vehicle gear positions correspond to different anti-collision strategies and different target angles and target directions of the steering wheel required by the user while driving. Therefore, by combining the vehicle's collision risk level and the vehicle's gear position, reliable and safe anti-collision control of the vehicle can be achieved, improving safety. Furthermore, by outputting prompt messages including the target angle and target direction of the user's steering wheel rotation, reliable guidance for the user's parking process can be provided in multiple scenarios, improving driving convenience and user driving experience, and offering rich strategies.

[0042] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

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

[0044] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment;

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

[0046] Figure 3 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

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

[0049] Figure 1 This is a flowchart illustrating 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, the collision risk level of the vehicle is determined.

[0051] For example, when the vehicle's gear signal is detected to be in reverse, it can be determined that the vehicle is in a reversing scenario.

[0052] Vehicle collision risk can be categorized into multiple levels, such as high, medium, and low. The higher the collision risk level, the greater the likelihood of the vehicle colliding with obstacles in its environment. When a user is reversing, limited visibility from inside the vehicle and the user's driving skill level increase the risk of scraping or colliding with surrounding obstacles. Therefore, the first step is to determine the vehicle's collision risk level.

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

[0054] A vehicle's gears can include forward and reverse gears, each corresponding to a different direction of travel. The target angle and direction of the steering wheel rotation represent the angle and direction the user needs to turn the steering wheel to avoid a collision while driving.

[0055] Different collision risk levels correspond to varying probabilities of a collision, thus necessitating different collision avoidance strategies (such as controlling vehicle braking). The varying probabilities of a collision can be attributed to different distances between the vehicle and obstacles in its environment, different gear positions corresponding to different vehicle directions, and different distances between the vehicle and obstacles, among other scenarios. Therefore, to avoid a collision while continuing to move, the target angle and direction of the steering wheel rotation required by the user will differ. Based on the collision risk level and the vehicle's gear position, the system can control the vehicle and output prompts indicating the target angle and direction of the steering wheel rotation for the user. After implementing collision avoidance control, the system further guides the user to turn the steering wheel according to the prompts to complete the parking maneuver.

[0056] For example, prompt messages can be output via animation and / or sound. For instance, an animation including the target steering wheel rotation direction and angle can be displayed on the vehicle's central control screen. The vehicle's internal speakers can also be controlled to output a voice prompt message "Turn the steering wheel 45° to the left," and when the user's steering wheel rotation direction and angle match the target direction and angle, the speakers can emit a "beep, beep, beep" prompt message to remind the user.

[0057] The above technical solution determines the vehicle's collision risk level when it is reversing. Based on the collision risk level and the vehicle's current gear, the system controls the vehicle and outputs prompts including the target angle and direction of the steering wheel rotation for the user, assisting in driving. In this solution, the vehicle's collision risk level indicates the likelihood of a collision; a higher risk level means a greater chance of collision during reversing. Different gears result in different driving directions (reversing or forward). The target angle and direction of the steering wheel rotation represent the angle and direction the user needs to turn the steering wheel to avoid a collision. Different collision risk levels and different gears correspond to different collision avoidance strategies and different target angles and directions of the steering wheel rotation required by the user. Therefore, by combining the vehicle's collision risk level and gear, reliable and safe collision avoidance control can be achieved, improving safety. Furthermore, by outputting prompts including the target angle and direction of the steering wheel rotation, reliable guidance can be provided to the user during parking in multiple scenarios, improving driving convenience and user experience, offering a richer strategy.

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

[0059] Determine the distance between the vehicle and obstacles in its environment;

[0060] If the distance between the vehicle and an obstacle in the environment in which the vehicle is located is less than or equal to the first preset distance, then the collision risk level of the vehicle is determined to be Level 1 collision risk level.

[0061] If the distance between the vehicle and an obstacle in the environment in which 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 Level 2 collision risk level.

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

[0063] The second preset distance is less than the first preset distance but greater than the third preset distance.

[0064] For example, the distances between the vehicle and obstacles in its environment can be obtained using radar and cameras positioned around the vehicle. Multiple obstacles may exist in the vehicle's environment, and the distance between each obstacle and the vehicle can be determined.

[0065] The probability of a collision at a Level 2 collision risk level is greater than that at a Level 1 collision risk level but less than that at a Level 3 collision risk level.

[0066] The first preset distance can be set by the designer, for example, it can be 1.5m. 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. The collision risk level of the vehicle can be determined as Level 1 collision risk level.

[0067] The second preset distance can be pre-set by the designer, for example, it can be 0.5m. When the distance between the vehicle and an obstacle in the environment 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 and the vehicle continues to drive, the probability of a collision is relatively high, and the collision risk level of the vehicle can be determined as Level 2 collision risk level.

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

[0069] In this embodiment, by determining the distance between the vehicle and obstacles in the vehicle's environment, a threshold comparison method can reliably and accurately determine the vehicle's collision risk level. The method is simple and has a fast calculation speed.

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

[0071] When the vehicle's collision risk level is Level 1, the vehicle speed is reduced and a first warning message is output. The first warning message includes the distance between the vehicle and obstacles in the vehicle's environment, as well as image information of the vehicle's environment.

[0072] When the vehicle's collision risk level is Level 1, if the distance between the vehicle and obstacles in its environment is less than or equal to a first preset distance (e.g., 1.5m), it can be considered that the distance between the vehicle and the obstacles is relatively short. If the vehicle continues to travel, a collision may occur. Therefore, the vehicle's speed can be reduced to extend the time it takes for the vehicle to reach the obstacles. Simultaneously, a first alert message is output, including the distance between the vehicle and obstacles in its environment, as well as image information of the vehicle's surroundings, to remind the user.

[0073] For example, the first prompt message can be output in the form of images and text. For instance, a pop-up message "The distance between the vehicle and obstacles in the environment where the vehicle is located is 1.5m" can be displayed on the vehicle's central control screen, while simultaneously outputting a video image of the vehicle's environment.

[0074] In this embodiment, when the vehicle's collision risk level is the first collision risk level, controlling the vehicle speed to decrease can prolong the time it takes for the vehicle to reach the obstacle, thereby increasing the user's reaction time. Furthermore, by outputting a first alert message that includes the distance between the vehicle and obstacles in its environment, as well as image information of the vehicle's surroundings, the user can be reliably and promptly alerted, facilitating timely action and improving safety.

[0075] In another embodiment, the above-mentioned control of the vehicle and output of a prompt message including the target angle and target direction of the user's steering wheel rotation based on the collision risk level and the vehicle's gear position includes:

[0076] If the vehicle's collision risk level is Level 2, control the vehicle's braking and output a second prompt message, including the target angle and target direction of the user's steering wheel rotation, based on the vehicle's current gear.

[0077] When the vehicle's collision risk level is Level 2, and the distance between the vehicle and obstacles in its environment is less than or equal to a second preset distance (e.g., 0.5m), it can be considered that the distance between the vehicle and the obstacles is extremely close. If no corresponding measures are taken and the vehicle continues to move, the probability of a collision is high. Therefore, the vehicle can be braked to avoid a collision. After braking, a second prompt message can be output, based on the vehicle's gear position, indicating the target angle and direction of the steering wheel rotation required by the user for continued driving. This second prompt message, when the vehicle's collision risk level is Level 2 and the vehicle continues to move after braking, indicates the direction and angle of steering wheel rotation to the user.

[0078] Different gears correspond to different vehicle travel directions, and thus different angles and directions the user needs to turn the steering wheel to continue driving after braking. Therefore, in another embodiment, the aforementioned second prompt message, which outputs the target angle and direction of the user's steering wheel turn based on the vehicle's current gear, includes:

[0079] If the vehicle is in reverse gear, a second prompt message is output, including the target angle and target direction of the steering wheel turned by the user when the vehicle is in reverse gear mode;

[0080] If the vehicle is in drive, a second prompt message is output, including the target angle and target direction of the user turning the steering wheel when the vehicle is in drive mode.

[0081] If the vehicle remains in reverse after braking, it can be assumed that the user needs to continue reversing. Therefore, based on the distance between the vehicle and obstacles in its environment, as well as the image information of the surrounding environment, the target angle and direction of the steering wheel rotation required for the user to continue reversing are determined. A second prompt message, including the target angle and direction of the steering wheel rotation required for the user to continue reversing, is then output to assist the user in parking. Designers can pre-define a scene model based on experience, and use this scene model to determine the target angle and direction of the steering wheel rotation required for the user to continue reversing based on the distance between the vehicle and obstacles in its environment, as well as the image information of the surrounding environment.

[0082] If the vehicle shifts to a forward gear after braking, it can be assumed that the user has stopped reversing and needs to exit the vehicle. Therefore, based on the distance between the vehicle and obstacles in the environment, as well as the image information of the vehicle's environment, the scene model is used to determine the target angle and direction that the user needs to turn the steering wheel when the vehicle moves forward. This results in the output of a second prompt message that includes the target angle and direction that the user needs to turn the steering wheel when the vehicle moves forward, to assist the user in exiting the vehicle.

[0083] In this embodiment, when the vehicle's collision risk level is the second collision risk level, controlling the vehicle's braking can reliably and effectively prevent a collision, thus improving safety. Furthermore, by outputting second prompt messages at different gear positions, including the target angle and direction the user needs to turn the steering wheel for continued driving, the system can reliably and effectively guide the user in multiple driving scenarios to avoid collisions during driving.

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

[0085] When the vehicle's collision risk level is Level 3, the vehicle's braking and accelerator pedals are disabled.

[0086] Whether continued parking is permitted is determined based on the distance between the vehicle and obstacles in the surrounding environment, as well as image information of the vehicle's surroundings.

[0087] Based on the judgment result and the vehicle's current gear, a third prompt message is output, including the target angle and target direction for the user to turn the steering wheel.

[0088] When the collision risk level of a vehicle is the third collision risk level, if the distance between the vehicle and an obstacle in the environment is less than or equal to the third preset distance (e.g., 5cm), it can be considered that the distance between the vehicle and the obstacle is extremely close. When the user continues to reverse, the probability of a collision is extremely high. Therefore, the vehicle brakes can be controlled and the accelerator pedal can be disabled to prevent the vehicle from being collided due to user misoperation.

[0089] After the vehicle's braking and accelerator pedals fail to function, the first step is to determine whether it is permissible to continue parking based on the distance between the vehicle and obstacles in its environment, as well as image information of the vehicle's surroundings.

[0090] Different judgment results and different gear positions correspond to different target angles and directions of steering wheel rotation required for the vehicle to continue driving. Therefore, further, in another embodiment, the aforementioned third prompt message output based on the judgment result and the vehicle's current gear position, including the target angle and direction of the user's steering wheel rotation, includes:

[0091] If it is determined that continued parking is permitted and the vehicle is in reverse gear, a third prompt message is output, including the target angle and target direction of the steering wheel turned by the user when the vehicle is in reverse gear mode, and the target opening degree of the brake pedal pressed by the user.

[0092] If it is determined that parking is not allowed, a fourth prompt message will be output to remind the user to shift to a forward gear;

[0093] When the vehicle is in drive, a third prompt message is output, including the target angle and direction of the user turning the steering wheel, the target opening of the user pressing the brake pedal, and the target opening of the user pressing the accelerator pedal.

[0094] The output of a third prompt message will cease when any one of the following conditions is met: the target angle and direction of the steering wheel turned by the user when the vehicle is in drive mode, the target opening of the brake pedal when the user depresses it, and the target opening of the accelerator pedal when the user depresses it.

[0095] Received a stop prompt command triggered by the user;

[0096] The vehicle is in parking gear.

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

[0098] For example, a third prompt message can be output via voice, including the target angle and direction of the steering wheel rotation required for the user to continue reversing, and the target opening degree of the brake pedal. For instance, the in-vehicle speaker can output the voice prompt message "Please turn the steering wheel 70° to the left and please press the brake pedal to 10%." When the user's steering wheel rotation direction and angle are the same as the target direction and angle, the in-vehicle speaker outputs the voice prompt message "Beep, beep, beep" to remind the user. When the user's brake pedal opening is the same as the target opening degree, the in-vehicle speaker outputs the voice prompt message "Please keep the brake pedal opening unchanged" to remind the user.

[0099] For example, the fourth prompt message can be output via text or voice. For instance, a pop-up message "Space is limited, please stop reversing and shift to drive" can be displayed on the vehicle's central control screen. Alternatively, the vehicle's internal speakers can output a voice prompt "Space is limited, please stop reversing and shift to drive."

[0100] When the user responds to the fourth prompt message and switches the vehicle to a forward gear, it can be assumed that the user has stopped reversing. Therefore, based on the distance between the vehicle and obstacles in the environment and the image information of the vehicle's environment, the scene model is used to determine the target angle and direction of the steering wheel that the user needs to turn when the vehicle moves forward. In real time, the target opening of the brake pedal or the target opening of the accelerator pedal is determined during driving. The third prompt message is output, which includes the target angle and direction of the steering wheel that the user needs to turn when the vehicle moves forward, and the target opening of the brake pedal or the target opening of the accelerator pedal, to assist the user in driving out of the vehicle.

[0101] For example, a third prompt message can be output via voice, including the target angle and direction of the steering wheel turn required for the user to exit the vehicle, and the target opening degree of the brake pedal or accelerator pedal. For instance, the in-vehicle speaker can output the voice prompt message "Please turn the steering wheel 90° to the right and press the accelerator pedal to 20%." When the user turns the steering wheel in the same direction and angle as the target direction and angle, the in-vehicle speaker outputs the voice prompt message "Beep, beep, beep" to remind the user. When the user presses the accelerator pedal to the same opening degree as the target, the in-vehicle speaker outputs the voice prompt message "Please keep the accelerator pedal opening unchanged" to remind the user, thereby assisting the user in exiting the vehicle smoothly.

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

[0103] When the vehicle is in park, it can be assumed that the vehicle is not moving, and the third prompt message, including the target angle and direction of the steering wheel turned by the user, the target opening of the brake pedal, and the target opening of the accelerator pedal, can be stopped.

[0104] In this embodiment, when the vehicle's collision risk level is the third collision risk level, controlling the vehicle's braking and disabling the accelerator pedal reliably and effectively prevents collisions and user misoperation, thus improving safety. Furthermore, by outputting different types of third-level warning messages at different gear positions, it can reliably and effectively guide the user in multiple driving scenarios to avoid collisions during driving.

[0105] Based on the same inventive concept, this disclosure also provides a vehicle control device. Figure 2 This is a block diagram illustrating 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 a vehicle when the vehicle is in a reversing scenario.

[0107] The first control module 202 is configured to control the vehicle and output prompt messages, including the target angle and target direction of the steering wheel, based on the collision risk level and the vehicle's gear position, to assist the user in driving.

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

[0109] The first determination submodule is configured to determine the distance between the vehicle and obstacles in the vehicle's environment.

[0110] The second determining submodule is configured to determine the vehicle's collision risk level as Level 1 if the distance between the vehicle and an obstacle in the vehicle's environment is less than or equal to a first preset distance.

[0111] The third determination submodule is configured to determine the vehicle's collision risk level as Level 2 if the distance between the vehicle and an obstacle in the vehicle's environment is less than or equal to a second preset distance.

[0112] The fourth determination submodule is configured to determine the vehicle's collision risk level as Level 3 if the distance between the vehicle and an obstacle in the vehicle's environment is less than or equal to the third preset distance.

[0113] The second preset distance is less than the first preset distance but greater than the third preset distance.

[0114] Optionally, the vehicle control device 200 may also include a second control module.

[0115] The second control module is configured to reduce the vehicle speed and output a first warning message when the vehicle's collision risk level is Level 1. The first warning message includes the distance between the vehicle and obstacles 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's braking when the vehicle's collision risk level is Level 2, and to output a second prompt message, including the target angle and target direction of the user's steering wheel rotation, based on the vehicle's current gear position.

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

[0119] If the vehicle is in reverse gear, a second prompt message is output, including the target angle and target direction of the steering wheel turned by the user when the vehicle is in reverse gear mode;

[0120] If the vehicle is in drive, a second prompt message is output, including the target angle and target direction of the user turning the steering wheel when the vehicle is in drive mode.

[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's braking and disable the accelerator pedal when the vehicle's collision risk level is level three.

[0123] The decision submodule is configured to determine whether to allow continued parking based on the distance between the vehicle and obstacles in the vehicle's environment, as well as image information of the vehicle's environment.

[0124] The output submodule is configured to output a third prompt message, including the target angle and target direction of the user's steering wheel rotation, based on the judgment result and the vehicle's current gear.

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

[0126] If it is determined that continued parking is permitted and the vehicle is in reverse gear, a third prompt message is output, including the target angle and target direction of the steering wheel turned by the user when the vehicle is in reverse gear mode, and the target opening degree of the brake pedal pressed by the user.

[0127] If it is determined that parking is not allowed, a fourth prompt message will be output to remind the user to shift to a forward gear;

[0128] When the vehicle is in drive, a third prompt message is output, including the target angle and direction of the user turning the steering wheel, the target opening of the user pressing the brake pedal, and the target opening of the user pressing the accelerator pedal.

[0129] The output of a third prompt message will cease when any one of the following conditions is met: the target angle and direction of the steering wheel turned by the user when the vehicle is in drive mode, the target opening of the brake pedal when the user depresses it, and the target opening of the accelerator pedal when the user depresses it.

[0130] Received a stop prompt command triggered by the user;

[0131] The vehicle is in parking gear.

[0132] By employing the above technical solution, when the vehicle is in a reversing scenario, the collision risk level of the vehicle is determined. Based on the collision risk level and the vehicle's current gear, the vehicle is controlled, and a prompt message including the target angle and direction of the steering wheel rotation by the user is output to assist the user in driving. In this solution, the vehicle's collision risk level represents the likelihood of a collision; the higher the collision risk level, the greater the possibility of a collision during reversing. Different gears result in different driving directions (reversing or forward). The target angle and direction of the steering wheel rotation by the user are the angles and directions required for the user to rotate the steering wheel to avoid a collision. Different collision risk levels and different vehicle gears correspond to different collision avoidance strategies and different target angles and directions of the steering wheel rotation required for the user to further complete the reversing action. Therefore, by controlling the vehicle in combination with the collision risk level and the current gear, reliable and safe collision avoidance control can be achieved, improving safety. Furthermore, by outputting prompt messages including the target angle and direction of the steering wheel rotation by the user, reliable guidance can be provided to the user's parking process in multiple scenarios, improving driving convenience and user experience, and offering a rich strategy.

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

[0134] This disclosure also provides a vehicle, including:

[0135] Second processor;

[0136] A second memory used to store instructions executable by a second processor;

[0137] The second processor is configured as follows:

[0138] Steps for implementing the vehicle control method provided in this disclosure.

[0139] Figure 3 This is a block diagram illustrating 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 vehicle. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0140] Reference Figure 3The vehicle 600 may include various subsystems, such as 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. Furthermore, each subsystem and each component of the vehicle 600 can be interconnected via wired or wireless means.

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

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

[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 to 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 internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

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

[0146] The second processor 651 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an 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 storage, flash memory, magnetic disk or optical disk.

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

[0149] In this embodiment of the disclosure, the second processor 651 may execute instructions 653 to complete all or part of the steps of the vehicle control method described above.

[0150] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the vehicle control method described above when executed by the programmable device.

[0151] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of this disclosure. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0152] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this 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, determine the collision risk level of the vehicle; Based on the collision risk level and the vehicle's gear position, the vehicle is controlled and a prompt message including the target angle and target direction for the user to turn the steering wheel is output to assist the user in driving; Determining the collision risk level of the vehicle includes: Determine the distance between the vehicle and obstacles in the environment in which the vehicle is located; 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, then the collision risk level of the vehicle is determined to be a level three collision risk level. The step of controlling the vehicle and outputting a prompt message including the target angle and target direction of the user's steering wheel rotation, based on the collision risk level and the vehicle's current gear, includes: If the collision risk level of the vehicle is the third-level collision risk level, control the vehicle to brake and control the accelerator pedal of the vehicle to be disabled. Whether to allow continued parking is determined based on the distance between the vehicle and obstacles in the environment in which the vehicle is located, as well as image information of the environment in which the vehicle is located; Based on the judgment result and the vehicle's current gear position, a third prompt message is output, including the target angle and target direction of the user turning the steering wheel; The second preset distance is less than the first preset distance and greater than the third preset distance.

2. The method according to claim 1, characterized in that, Determining the collision risk level of the vehicle includes: 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, then the collision risk level of the vehicle is determined to be Level 1 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, then the collision risk level of the vehicle is determined to be a level two collision risk level.

3. The method according to claim 2, characterized in that, The method further includes: When the collision risk level of the vehicle is the Level 1 collision risk level, the vehicle speed is reduced and a first warning message is output. The first warning message includes the distance between the vehicle and obstacles in the environment in which the vehicle is located, as well as image information of the environment in which the vehicle is located.

4. The method according to claim 2, characterized in that, The step of controlling the vehicle and outputting a prompt message including the target angle and target direction of the user's steering wheel rotation, based on the collision risk level and the vehicle's current gear, includes: If the collision risk level of the vehicle is the Level 2 collision risk level, control the vehicle to brake and output a second prompt message including the target angle and target direction of the user turning the steering wheel according to the gear position of the vehicle.

5. The method according to claim 4, characterized in that, The second prompt message, which outputs the target angle and target direction of the user's steering wheel rotation based on the vehicle's current gear position, includes: If the vehicle is in reverse gear, a second prompt message is output, including the target angle and target direction of the user turning the steering wheel when the vehicle is in reverse gear mode. If the vehicle is in a forward gear, a second prompt message is output, including the target angle and target direction of the user turning the steering wheel when the vehicle is in forward gear mode.

6. The method according to claim 1, characterized in that, The third prompt message, which outputs based on the judgment result and the vehicle's current gear position, includes the target angle and target direction of the user's steering wheel rotation, and includes: If it is determined that continued parking is permitted and the vehicle is in reverse gear, a third prompt message is output, including the target angle and target direction of the user turning the steering wheel when the vehicle is in reverse gear mode, and the target opening degree of the user pressing the brake pedal. If it is determined that parking is not allowed, a fourth prompt message will be output to remind the user to shift to a forward gear; When the vehicle is in a forward gear, a third prompt message is output, including the target angle and target direction of the user turning the steering wheel, the target opening of the user pressing the brake pedal, and the target opening of the user pressing the accelerator pedal. The output of a third prompt message, including the target angle and direction of the user turning the steering wheel when the vehicle is in forward gear mode, the target opening degree of the user pressing the brake pedal, and the target opening degree of the user pressing the accelerator pedal, will cease when any one of the following conditions is met: Received the stop prompt command triggered by the user; The vehicle is in parking gear.

7. A vehicle control device, characterized in that, The device includes: The determination module is configured to determine the 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 prompt messages including the target angle and target direction of the user's steering wheel rotation, based on the collision risk level and the vehicle's gear position, to assist the user in driving. The determining module is further configured to determine the distance between the vehicle and obstacles in the environment in which the vehicle is located; and if the distance between the vehicle and obstacles in the environment in which the vehicle is located is less than or equal to a third preset distance, then the collision risk level of the vehicle is determined to be a level three collision risk level. The first control module is further configured to, when the collision risk level of the vehicle is the third-level collision risk level, control the vehicle to brake and control the accelerator pedal of the vehicle to be disabled; and, determine whether to allow continued parking based on 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; and, output a third prompt message including the target angle and target direction of the user turning the steering wheel based on the judgment result and the gear position of the vehicle. The second preset distance is less than the first preset distance and greater than the third preset distance.

8. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When executed by the first processor, the program instructions implement the steps of the method according to any one of claims 1 to 6.

9. A vehicle, characterized in that, include: Second processor; A second memory for storing executable instructions of the second processor; The second processor is configured as follows: The steps for implementing the method according to any one of claims 1 to 6.

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