Vehicle control method and device, medium, electronic equipment and vehicle

Abstract

The invention relates to the technical field of intelligent automobiles, in particular to a vehicle control method and device, a medium, electronic equipment and a vehicle. The method comprises the following steps: acquiring sound source information and image information in a target area acquired by an environment sensing system; according to sound source information and the image information, environment perception information of the whole vehicle on the target area is obtained; judging whether a dangerous target animal exists in a preset warning area or not according to the environmental perception information; if the target animal exists in the warning area, determining the danger level of the target animal according to the environmental perception information; and according to the danger level, a target warning strategy of the whole vehicle is determined, and the whole vehicle is controlled to execute target warning operation corresponding to the target warning strategy. According to the method, warning driving can be carried out when the dangerous target animal enters the warning area, dangerous conditions are prevented, and the safety of a user in a specific environment is further improved.

Description

Background Art

[0002] With the development of autonomous driving technology, vehicles are equipped with cameras, radars and other sensors to achieve unmanned driving. As users' entertainment needs continue to increase, users usually drive their cars to suburbs, forests, grasslands and other environments, where dangerous situations often occur and the safety of users cannot be guaranteed. Existing smart cars cannot effectively guarantee the safety of users such as drivers and passengers in these specific environments, and there is a problem of insufficient safety in specific environments. Summary of the invention

[0003] The present application provides a whole vehicle control method, device, medium, electronic equipment and vehicle to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of an embodiment of the present application, a vehicle control method is provided, the method comprising: Acquiring sound source information and image information in a target area collected by the environmental perception system; Acquiring environmental perception information of the target area by the vehicle according to the sound source information and the image information; Determining whether there is a dangerous target animal in a preset warning area according to the environmental perception information; If the target animal exists in the warning area, determining the danger level of the target animal according to the environmental perception information; The target alert strategy of the whole vehicle is determined according to the danger level, and the whole vehicle is controlled to perform the target alert operation corresponding to the target alert strategy.

[0006] In one embodiment of the present application, based on the above solution, obtaining the environmental perception information of the vehicle to the target area according to the sound source information and the image information includes: Determining the position information of the target sound source object according to the sound source information, and determining the category information of the target sound source object according to the position information and the image information; Determine environmental information within the target area according to the image information, wherein the environmental information includes meteorological information and time information; The environmental perception information of the entire vehicle to the target area is generated according to the position information, the category information and the environmental information.

[0007] In one embodiment of the present application, based on the above solution, judging whether there is a dangerous target animal in a preset warning area according to the environmental perception information includes: Determining whether the target sound source object is the target animal according to the category information; If the target sound source object is the target animal, determining whether the location information of the target sound source object is within the warning area; If the location information of the target sound source object is within the warning area, it is determined that the target animal exists within the warning area.

[0008] In one embodiment of the present application, based on the above solution, determining the danger level of the target animal according to the environmental perception information includes: Determining category information of the target animal according to the environmental perception information; If the category information is within the first preset category range, determining that the danger level is level one; If the category information is within the second preset category range, determining that the danger level is level 2; If the category information is within the third preset category range, determining that the danger level is level three; If the category information is within the fourth preset category range, the danger level is determined to be level four.

[0009] In one embodiment of the present application, based on the above solution, the target alert strategy includes a first alert strategy and a second alert strategy, and the target alert strategy for the entire vehicle is determined according to the danger level, including: Determine a target driving method of the whole vehicle for the target animal according to the danger level, and determine a first planned driving path of the whole vehicle according to the danger level; If there is a pre-set patrol strategy, obtaining a second driving planning path corresponding to the patrol strategy according to the patrol strategy; Generating a target driving plan path for the whole vehicle according to the first driving plan path and the second driving plan path, and generating a first alert strategy for the whole vehicle based on the target driving plan path and the target driving away method; If there is no pre-set patrol strategy, a second alert strategy for the entire vehicle is generated according to the first planned driving path and the target driving away method.

[0010] In one embodiment of the present application, based on the above solution, determining the target driving method of the whole vehicle to the target animal according to the danger level includes: If the danger level is level one, determining the target driving away method is to emit a headlight beam according to the location information of the target animal; If the danger level is level 2, determining the target expulsion method is to perform a voice broadcast of a preset sound source and emit a headlight beam according to the location information of the target animal; If the danger level is level three, determining the target expulsion method is to emit a laser according to the location information of the target animal; If the danger level is level four, the target expulsion method is determined to be moving to the location of the target animal according to the location information of the target animal, and performing voice broadcast of the preset sound source and emitting a car light beam / emitting a laser.

[0011] In one embodiment of the present application, based on the above solution, after obtaining the environmental perception information of the vehicle to the target area according to the sound source information and the image information, the method further includes: Determine whether there is a dangerous target animal in the target risk area according to the environmental perception information, and the distance between the target risk area and the warning area is lower than a preset distance threshold; If there is a dangerous target animal in the target risk area, determining the behavior prediction information of the target animal according to the sound source information and the image information; Determining whether the target animal has a behavioral tendency to enter the warning area according to the behavior prediction information; If the target animal has a behavioral tendency to enter the warning area, a risk warning strategy of the entire vehicle for the target animal is determined, and the entire vehicle is controlled to perform a target risk warning operation corresponding to the risk warning strategy.

[0012] According to one aspect of an embodiment of the present application, a vehicle control device is provided, the device comprising: An acquisition unit, used to acquire sound source information and image information in a target area collected by the environment perception system; A perception unit, used for acquiring environmental perception information of the vehicle to the target area according to the sound source information and the image information; A judgment unit, used for judging whether there is a dangerous target animal in a preset warning area according to the environmental perception information; a determining unit, configured to determine a danger level of the target animal according to the environmental perception information if the target animal exists in the warning area; The warning unit is used to determine the target warning strategy of the whole vehicle according to the danger level, and control the whole vehicle to perform the target warning operation corresponding to the target warning strategy.

[0013] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the vehicle control method described in the above embodiment is implemented.

[0014] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; and a memory for storing executable instructions of the processors, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the whole vehicle control method as described in the above embodiments.

[0015] According to one aspect of an embodiment of the present application, a vehicle is provided, wherein the vehicle includes a vehicle control device of the above embodiment or an electronic device of the above embodiment.

[0016] The beneficial effect of the present application is: by acquiring the sound source information and image information in the target area collected by the environmental perception system, wherein the target area can be the environmental area where the whole vehicle is located, the environmental perception information of the whole vehicle to the target area can be obtained according to the acquired sound source information and image information. Through the environmental perception information, it can be determined whether there are dangerous target animals in the preset warning area, and then in the case of the presence of target animals, that is, the driver or passengers outside the vehicle may encounter dangerous situations due to the approach of the target animals during rest. At this time, by determining the danger level of the target animal, the whole vehicle is controlled to perform corresponding target warning operations according to the danger level to drive away the target animal, so as to prevent the occurrence of dangerous situations and further improve the safety of users in specific environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief description of the drawings required for use in the description of the embodiments. Obviously, the drawings described are only part of the embodiments of the present application, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0018] Figure 1 It is a flow chart of a vehicle control method according to an embodiment of the present application; Figure 2 The overall architecture diagram of the vehicle control system according to the embodiment of the present application is shown; Figure 3 is a block diagram of a vehicle control device according to an embodiment of the present application; Figure 4 It is a schematic diagram of the system structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0020] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0021] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or micro-control node devices.

[0022] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0023] It should be noted that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0024] The implementation details of the technical solution of the embodiment of the present application are described in detail below: According to one aspect of an embodiment of the present application, a whole vehicle control method is provided, the whole vehicle control system includes an environment perception system and a controller, and the method is executed by the controller. Figure 1 This is a flow chart of a vehicle control method according to an embodiment of the present application. The method includes at least steps S110 to S150, which are described in detail as follows: In step S110, the sound source information and image information in the target area collected by the environment perception system are obtained.

[0025] Specifically, the whole vehicle control method of the embodiment of the present application can be applied to smart cars with unmanned driving functions, that is, the patrol and expulsion functions of the smart car can be realized by having the unmanned driving function, thereby ensuring the safety of users while resting outside the car in specific environments such as the suburbs and grasslands.

[0026] like Figure 2 As shown, the environment perception system can be a visual + auditory fusion system obtained by fusing multiple sensors, wherein the environment perception system includes a perimeter camera, a surround view camera, a laser radar, an ultrasonic radar, and an external microphone. The sound source information and image information of the target area are obtained through the perimeter camera, the surround view camera, the laser radar, the ultrasonic radar, and the external microphone. It should be noted that Figure 2 The vehicle control system shown in is the controller described in the embodiments of the present application.

[0027] Among them, the surround camera is one of the cameras in the surround camera system. The surround camera system is a vehicle-mounted camera system. The whole vehicle control system of the embodiment of the present application includes a surround camera system. The surround camera system is composed of four surround cameras in the front, back, left and right directions, which are installed in the front, back, left and right directions of the vehicle. The four surround cameras simultaneously capture image data around the vehicle and transmit the image data to the controller to assist the driver in observing the situation around the vehicle during driving and improve driving safety. The surround camera system can provide a full range of vehicle perspectives, allowing the driver to better understand the environment around the vehicle to avoid blind spots and reduce risks during operations such as merging and parking.

[0028] The surround camera is one of the cameras in the surround camera system. The vehicle control system includes the surround camera system. The surround camera system is a multi-camera system consisting of multiple surround cameras installed in the four directions of the vehicle and other key positions, such as the front and rear bumpers, rearview mirrors, etc. Through the image calculation and fusion of multiple cameras, the panoramic monitoring of the vehicle's surrounding environment is achieved. The surround camera system can provide a more intuitive perspective, allowing the driver to better observe the situation around the vehicle.

[0029] The target area can be set according to needs. The target area can be set to a circular area 50 meters away from the whole vehicle, or a circular area 100 meters away from the whole vehicle. The target area can be set arbitrarily.

[0030] In step S120, environmental perception information of the entire vehicle to the target area is obtained according to the sound source information and the image information.

[0031] Specifically, the sound information in the target area can be obtained through an external microphone. If there is sound in the target area, the sound source information in the target area can be collected. The image information in the target area can be collected through the perimeter camera and the surround view camera, and the position information of the target sound source object that emits sound in the target area can be accurately obtained through the laser radar and the ultrasonic radar. The environmental perception information of the whole vehicle to the target area is obtained through the sound source information and the image information. The perception of the environment can accurately determine the current environment of the whole vehicle, that is, the environmental information of the user when resting outside the vehicle can be obtained. Further analysis of the environmental perception information can effectively prevent safety risks.

[0032] In one embodiment of the present application, the acquiring the environmental perception information of the vehicle to the target area according to the sound source information and the image information includes: Determining the position information of the target sound source object according to the sound source information, and determining the category information of the target sound source object according to the position information and the image information; Determine environmental information within the target area according to the image information, wherein the environmental information includes meteorological information and time information; The environmental perception information of the entire vehicle to the target area is generated according to the position information, the category information and the environmental information.

[0033] Specifically, the sound of the surrounding environment is located through an external microphone to obtain accurate sound source information, that is, the position information of the target sound source object is obtained, and the category information of the target sound source object can be further determined by combining the obtained position information and image information. In an embodiment of the present application, the category information of the target sound source object can be identified by a controller, or the sound source information and image information can be sent to a cloud server, and the AI ​​(Artificial Intelligence) technology of the cloud server is used for automatic identification and matching, and the matching results (environmental perception information) obtained by identification are sent to the controller of the whole vehicle, thereby obtaining the environmental perception information of the whole vehicle to the target area.

[0034] Furthermore, the category information is the type of the target sound source object, where the target sound source object can be specifically an animal. For example, through the unique roaring sound of a dog combined with the image information of the dog, through the visual and auditory recognition technology of AI big data, it is possible to quickly identify the presence of a dog in the target area, thereby performing environmental perception of the target area.

[0035] In one embodiment of the present application, the method further includes: If the weather information indicates bad weather or the time information indicates a target period, the infrared camera of the vehicle is turned on to collect images of the target area to obtain target image data; Determine the latest category information of the target sound source object according to the target image data; The environmental perception information of the entire vehicle to the target area is generated according to the position information, the latest category information and the environmental information.

[0036] The target time period may be the time period between 8 pm and 6 am, and the target time period is used to characterize that the current environment of the vehicle is low in environmental recognition, generally in the evening or at night.

[0037] Specifically, the environmental perception system also includes an infrared camera, which can perceive some scenes with low recognition, such as at night, rainy days, etc. At this time, the latest category information of the target sound source object can be accurately identified, and the category data identified based on the image information in the previous step is also replaced by the latest category data.

[0038] In step S130, it is determined whether there is a dangerous target animal in the preset warning area based on the environmental perception information.

[0039] Specifically, the preset warning area can be set according to actual needs, and can be a circular area within 20 meters from the entire vehicle, or a circular area within 30 meters from the rest area outside the vehicle where the user is located. It should be noted that the warning area is covered by the target area, that is, the area of ​​the warning area is smaller than the target area.

[0040] In one embodiment of the present application, judging whether there is a dangerous target animal in a preset warning area according to the environmental perception information includes: Determining whether the target sound source object is the target animal according to the category information; If the target sound source object is the target animal, determining whether the location information of the target sound source object is within the warning area; If the location information of the target sound source object is within the warning area, it is determined that the target animal exists within the warning area.

[0041] Specifically, the dangerous target animals may be snakes, wolves, wild boars, tigers, leopards, etc., wherein the target animals may be a variety of harmful and dangerous animals.

[0042] By identifying the category information of the target sound source object, it is possible to determine whether the target sound source object is a dangerous target animal. If it is determined to be a dangerous target animal, it will be further determined whether the target animal is in the warning area. If it is in the warning area, it is determined that the target animal exists in the warning area, which may pose a safety risk to users in the rest area outside the vehicle, and timely warning is required to prevent the occurrence of dangerous situations.

[0043] In step S140, if the target animal exists in the warning area, the danger level of the target animal is determined according to the environmental perception information.

[0044] Specifically, if the target animal is dangerous, such as cats and dogs, which are somewhat dangerous but not very dangerous, the corresponding warning operation will be adaptively adjusted, such as turning on the headlights to illuminate the animal and drive it away. However, if it is a wild boar, tiger, leopard or other animal, the headlights can no longer deter it, so the vehicle can be automatically controlled to drive it away, combined with the emission of lasers, sound playback and other methods.

[0045] In one embodiment of the present application, determining the danger level of the target animal according to the environmental perception information includes: Determining category information of the target animal according to the environmental perception information; If the category information is within the first preset category range, determining that the danger level is level one; If the category information is within the second preset category range, determining that the danger level is level 2; If the category information is within the third preset category range, determining that the danger level is level three; If the category information is within the fourth preset category range, the danger level is determined to be level four.

[0046] Specifically, the embodiment of the present application roughly divides dangerous target animals into four categories, namely small, medium, medium-large and large. The first preset category range is used to characterize small and dangerous animal categories, such as cats, dogs, etc.; the second preset category range is used to characterize medium and dangerous animal categories, such as snakes and other animals; the third preset category range is used to characterize medium-large and highly dangerous animal categories, such as wolves, wild boars, etc.; the fourth preset category range is used to characterize large and extremely dangerous animal categories, such as tigers, leopards, lions, etc.

[0047] In step S150, a target alert strategy for the entire vehicle is determined according to the danger level, and the entire vehicle is controlled to perform a target alert operation corresponding to the target alert strategy.

[0048] Specifically, different target alert strategies can be generated according to different danger levels, that is, different target alert strategies to be executed are also different according to different danger levels determined by different category information. By controlling the whole vehicle to execute the target alert operation corresponding to the target alert strategy, that is, controlling Figure 2 The vehicle driving system in the vehicle executes corresponding target warning operations to drive away the target animal.

[0049] In one embodiment of the present application, the target alert strategy includes a first alert strategy and a second alert strategy, and the target alert strategy for the entire vehicle is determined according to the danger level, including: Determine a target driving method of the whole vehicle for the target animal according to the danger level, and determine a first planned driving path of the whole vehicle according to the danger level; If there is a pre-set patrol strategy, obtaining a second driving planning path corresponding to the patrol strategy according to the patrol strategy; Generating a target driving plan path for the whole vehicle according to the first driving plan path and the second driving plan path, and generating a first alert strategy for the whole vehicle based on the target driving plan path and the target driving away method; If there is no pre-set patrol strategy, a second alert strategy for the entire vehicle is generated according to the first planned driving path and the target driving away method.

[0050] Specifically, the user can set a patrol strategy before getting off the vehicle to rest, that is, the pre-set patrol strategy described in the embodiment of the present application. The target driving method of the whole vehicle to the target animal is determined according to the danger level, that is, different target driving methods can be determined according to the animal category information corresponding to the danger level. For example, if the target animal is a snake, it can be driven away by playing sound and emitting light. If the target animal is a wild boar, the whole vehicle can be controlled to move to drive it away.

[0051] The first warning strategy can be specifically as follows: determine the first driving planning path of the whole vehicle according to different danger levels. For example, if the danger level is level one, the corresponding target animal is a small animal with low danger. At this time, it only needs to be driven away by light. Then the first driving planning path at this time is 0, that is, the whole vehicle does not need to move. When the target animal is a tiger, wolf or other extremely dangerous animal, it is necessary to plan the first driving planning path of the whole vehicle to move and drive the vehicle. At this time, the first driving planning path can be set to drive from the current position to a position 5 meters away from the location information of the target animal, and monitor the movement path of the target animal in real time, and continuously and dynamically adjust the first driving planning path until the target animal is driven out of the warning area.

[0052] If there is a pre-set patrol strategy, then a second driving planning path corresponding to the patrol strategy is obtained, that is, the user pre-sets the second driving planning path for the whole vehicle to patrol within a certain range. By dynamically integrating the second driving planning path and the first driving planning path, the target driving planning path is planned in real time, so as to carry out driving and patrolling at the same time to ensure the safety of users.

[0053] If there is no pre-set patrol strategy, then the second alert strategy for the entire vehicle is directly generated according to the first planned driving path and the target driving away method.

[0054] In one embodiment of the present application, determining the target driving method of the vehicle to drive away the target animal according to the danger level includes: If the danger level is level one, determining the target driving away method is to emit a headlight beam according to the location information of the target animal; If the danger level is level 2, determining the target expulsion method is to perform a voice broadcast of a preset sound source and emit a headlight beam according to the location information of the target animal; If the danger level is level three, determining the target expulsion method is to emit a laser according to the location information of the target animal; If the danger level is level four, the target expulsion method is determined to be moving to the location of the target animal according to the location information of the target animal, and performing voice broadcast of the preset sound source and emitting a car light beam / emitting a laser.

[0055] Specifically, the preset sound source can be a sound of some preset content, such as the sound of a person or an animal played by a loudspeaker, or a sound with a certain frequency, etc. Some small animals are directly driven away by lights, while some large animals are driven away by lights + sounds + vehicle movement. According to different danger levels, corresponding warning information can also be generated and sent to users, prompting users to get in the car in time to avoid danger. If necessary, the car lights, simulated sounds, horns, or even vehicle movement collisions, lasers, etc. are activated to warn or expel the target animals.

[0056] In one embodiment of the present application, after obtaining the environmental perception information of the vehicle to the target area according to the sound source information and the image information, the method further includes: Determine whether there is a dangerous target animal in the target risk area according to the environmental perception information, and the distance between the target risk area and the warning area is lower than a preset distance threshold; If there is a dangerous target animal in the target risk area, determining the behavior prediction information of the target animal according to the sound source information and the image information; Determining whether the target animal has a behavioral tendency to enter the warning area according to the behavior prediction information; If the target animal has a behavioral tendency to enter the warning area, a risk warning strategy of the entire vehicle for the target animal is determined, and the entire vehicle is controlled to perform a target risk warning operation corresponding to the risk warning strategy.

[0057] Specifically, the behavior trends of target animals can also be predicted through sound source information and image information. The target risk area is the area within a certain distance outside the warning area. The preset distance threshold can be any value such as 5 meters, 10 meters, 20 meters, etc. That is to say, taking 5 meters as an example, the target risk area is the area within 5 meters from the outermost side of the warning area.

[0058] Determine whether there are dangerous target animals in the target risk area through environmental perception information, so as to judge whether the target animals have a behavioral trend of entering the warning area according to the behavioral prediction information. When the target animals have a behavioral trend of entering the warning area, determine the corresponding risk warning strategy to control the vehicle to perform the target risk warning operation corresponding to the risk warning strategy, such as controlling the vehicle to drive to a position close to the target animal in advance to drive it away by sound, light, laser, expulsion, etc., so as to prevent the target animal from entering the warning area and endangering the user's personal safety. Enable or disable the patrol warning function through (mobile display) mobile phone remote command trigger, or select the warning or patrol mode, such as whether the vehicle can move automatically, and perform visual fusion of the surrounding environment through infrared cameras and visual fusion solutions of various cameras, and apply AI technology to realize the recognition and matching of visual and auditory patterns.

[0059] To summarize, the present application can utilize the functions and equipment configurations of autonomous driving vehicles, combined with the vehicle's memory parking function and remote control technology, to realize automatic patrol of the vehicle, and issue warnings or drives away dangerous target animals when they appear, thereby preventing the target animals from entering the pre-set warning area and ensuring the personal safety of users.

[0060] The following is a specific example of the application scenario embodiment of the present application: First, when the user is tired of driving and needs to rest, he can stop driving the vehicle and enter the alert mode. The alert mode corresponds to the vehicle control method described in the embodiment of the present application.

[0061] First, the vehicle can collect sound source information and image information in the target area through the environmental perception system. The target area can be an area within 200 meters from the vehicle, or an area within 200 meters of the rest area selected by the user. The environmental perception system obtains image information and sound source information of the target area through a surround-view camera, a surround-view camera, and a microphone array installed in the vehicle. The environmental information in the target area is determined based on the image information, and the environmental information includes meteorological information and time information. That is, if it is currently in the dark or in Takeda, the image of the front area cannot be clearly seen through the conventional surround-view camera and the surround-view camera, and the image information can be obtained through the infrared camera to better identify dangerous target animals.

[0062] The sound source information and image information are used to determine whether there are dangerous target animals in the warning area. The warning area can be an area within 50 meters from the entire vehicle or the rest area. That is, the location information of the target sound source object is determined by the sound source information and image information, and then visual + auditory fusion is performed based on its image information and sound source information to determine whether the target sound source object is a target animal and its category information (type), so as to obtain the judgment result of the target animal.

[0063] Furthermore, if it is determined that there is a dangerous target animal in the warning area, the image information is combined with the sound source information to determine the type of animal the current target animal belongs to. For example, based on the image information, the first round of recognition results include cats (55% probability) and dogs (43% probability). At this time, there are two greater possibilities. Then, combined with the sound source information, the category information of the current target animal can be distinguished through the sound source information of cats and dogs barking.

[0064] Furthermore, by obtaining the category information of the target animal as a dog, it can be determined that the danger level of the dog is level one according to the pre-set danger levels of each animal category, which is an animal with low harm. At this time, the target alert strategy of the whole vehicle is determined by the level one danger level, wherein it is first determined whether the user has pre-set a patrol strategy before getting off the vehicle for a rest. If the user has pre-set a patrol strategy, the planned path according to the patrol strategy and the currently planned path are merged to obtain the target planned path, and then the whole vehicle is controlled to patrol and / or drive according to the target planned path.

[0065] Furthermore, after determining that the target animal is a dog, the target driving method for the dog can be used accordingly. For example, if the target driving method for the dog is to drive it away with light + horn, then the dog's location can be driven away with light + horn. If the dog is constantly moving, real-time updated image information can be obtained to determine the latest location of the dog for driving it away. If the dog exits the warning area, the target warning operation for the dog can be stopped, and the entire vehicle can be controlled to continue patrolling according to the initial driving path in the patrol strategy.

[0066] Furthermore, a target risk area can be pre-set. Compared with the warning area, the target risk area is farther away from the user and the whole vehicle. The behavior prediction information of the target animal can be determined through the sound source information and the image information, that is, the physical characteristics of the target animal can be determined through the image information. For example, if the dog's front legs are forward, it means that the dog is approaching the whole vehicle or the user. This information is used as the behavior prediction information of the target animal to determine whether it has a behavioral trend of entering the warning area. If it is determined that the dog has a behavioral trend of entering the warning area, the risk warning strategy of the whole vehicle for the target animal is determined, that is, the whole vehicle is controlled to perform the target risk warning operation corresponding to the risk warning strategy, such as the target risk warning operation for the dog is to drive the dog away with a whistle, so that the dog dare not approach the edge of the warning area again.

[0067] Figure 3 This is a block diagram of a vehicle control device 300 according to an embodiment of the present application. According to a vehicle control device 300 according to an embodiment of the present application, the vehicle control system includes an environmental perception system and a controller. The device is applied to the controller. The device 300 includes: an acquisition unit 301, a perception unit 302, a judgment unit 303, a determination unit 304, and a warning unit 305.

[0068] The acquisition unit 301 is used to acquire the sound source information and image information in the target area collected by the environment perception system.

[0069] The perception unit 302 is used to obtain the environmental perception information of the vehicle to the target area according to the sound source information and the image information.

[0070] The judgment unit 303 is used to judge whether there is a dangerous target animal in the preset warning area according to the environmental perception information.

[0071] The determination unit 304 is configured to determine the danger level of the target animal according to the environmental perception information if the target animal exists in the warning area.

[0072] The warning unit 305 is used to determine the target warning strategy of the whole vehicle according to the danger level, and control the whole vehicle to perform the target warning operation corresponding to the target warning strategy.

[0073] As another aspect, the present application further provides a computer-readable storage medium on which a program product capable of implementing the method provided above in this specification is stored. In some possible implementations, various aspects of the present application may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary implementations of the present application described in the above "Embodiment Method" section of this specification.

[0074] According to the program product for implementing the above method in the embodiment of the present application, it can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0075] The program product may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0076] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0077] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0078] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0079] As another aspect, the present application also provides an electronic device capable of implementing the above method.

[0080] The embodiment of the present application also provides a vehicle, which includes the above-mentioned vehicle control device or the electric drive assembly of the above-mentioned electronic device. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle can also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0081] It can be understood that the contents of the above method embodiments are all applicable to the present vehicle embodiment, the functions specifically implemented by the present vehicle embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0082] Those skilled in the art will appreciate that various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "system" herein.

[0083] Refer to the following Figure 4 The electronic device 400 according to this embodiment of the present application is described. Figure 4 The electronic device 400 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0084] like Figure 4As shown, the electronic device 400 is in the form of a general computing device. The components of the electronic device 400 may include but are not limited to: at least one processing unit 410, at least one storage unit 420, and a bus 430 connecting different system components (including the storage unit 420 and the processing unit 410).

[0085] The storage unit stores program codes, which can be executed by the processing unit 410, so that the processing unit 410 executes the steps described in the above “Example Method” section of this specification according to various exemplary implementations of the present application.

[0086] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0087] The storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0088] Bus 430 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller node, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0089] The electronic device 400 may also communicate with one or more external devices 1200 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 400, and / or communicate with any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication may be performed through an input / output (I / O) interface 450. In addition, the electronic device 400 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 460. As shown, the network adapter 460 communicates with other modules of the electronic device 400 through a bus 430. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0090] The vehicle control method, device, medium and electronic device provided in the embodiment of the present application obtain the sound source information and image information in the target area collected by the environmental perception system, wherein the target area can be the environmental area where the vehicle is located, and the environmental perception information of the vehicle to the target area can be obtained according to the acquired sound source information and image information. Through the environmental perception information, it can be judged whether there is a dangerous target animal in the preset warning area, and then in the case of the presence of the target animal, that is, the driver or passenger outside the vehicle may encounter a dangerous situation due to the approach of the target animal during the rest period. At this time, by determining the danger level of the target animal, and then controlling the vehicle to perform the corresponding target warning operation according to the danger level to drive away the target animal, so as to prevent the occurrence of dangerous situations and further improve the safety of users in specific environments. The functions and equipment configurations of the autonomous driving vehicle can be used, combined with the vehicle's memory parking function and remote control technology, to realize the automatic patrol of the vehicle, and when a dangerous target animal appears, a warning or drive is carried out to prevent the target animal from entering the preset warning area to ensure the personal safety of the user.

[0091] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software, or by combining software with necessary hardware. Therefore, the technical solution according to the implementation method of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation method of the present application.

[0092] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present application, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0093] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be performed without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquire the sound source information and image information in the target area collected by the environmental perception system; Acquiring environmental perception information of the target area by the vehicle according to the sound source information and the image information; Determining whether there is a dangerous target animal in a preset warning area according to the environmental perception information; If the target animal exists in the warning area, determining the danger level of the target animal according to the environmental perception information; The target alert strategy of the whole vehicle is determined according to the danger level, and the whole vehicle is controlled to perform the target alert operation corresponding to the target alert strategy.

2. The vehicle control method according to claim 1, characterized in that: The obtaining the environmental perception information of the target area by the whole vehicle according to the sound source information and the image information includes: Determining the position information of the target sound source object according to the sound source information, and determining the category information of the target sound source object according to the position information and the image information; Determine environmental information within the target area according to the image information, wherein the environmental information includes meteorological information and time information; The environmental perception information of the entire vehicle to the target area is generated according to the position information, the category information and the environmental information.

3. The vehicle control method according to claim 2, characterized in that: The determining, based on the environmental perception information, whether there is a dangerous target animal in a preset warning area includes: Determining whether the target sound source object is the target animal according to the category information; If the target sound source object is the target animal, determining whether the location information of the target sound source object is within the warning area; If the location information of the target sound source object is within the warning area, it is determined that the target animal exists within the warning area.

4. The vehicle control method according to claim 3, characterized in that: Determining the danger level of the target animal according to the environmental perception information includes: Determining category information of the target animal according to the environmental perception information; If the category information is within the first preset category range, determining that the danger level is level one; If the category information is within the second preset category range, determining that the danger level is level 2; If the category information is within the third preset category range, determining that the danger level is level three; If the category information is within the fourth preset category range, the danger level is determined to be level four.

5. The vehicle control method according to claim 4, characterized in that: The target alert strategy includes a first alert strategy and a second alert strategy. The target alert strategy for the entire vehicle is determined according to the danger level, including: Determine a target driving method of the whole vehicle for the target animal according to the danger level, and determine a first planned driving path of the whole vehicle according to the danger level; If there is a pre-set patrol strategy, obtaining a second driving planning path corresponding to the patrol strategy according to the patrol strategy; Generating a target driving plan path for the whole vehicle according to the first driving plan path and the second driving plan path, and generating a first alert strategy for the whole vehicle based on the target driving plan path and the target driving away method; If there is no pre-set patrol strategy, a second alert strategy for the entire vehicle is generated according to the first planned driving path and the target driving away method.

6. The vehicle control method according to claim 5, characterized in that: The method of determining the target driving away method of the target animal by the vehicle according to the danger level includes: If the danger level is level one, determining the target driving away method is to emit a headlight beam according to the location information of the target animal; If the danger level is level 2, determining the target expulsion method is to perform a voice broadcast of a preset sound source and emit a headlight beam according to the location information of the target animal; If the danger level is level three, determining the target expulsion method is to emit a laser according to the location information of the target animal; If the danger level is level four, the target expulsion method is determined to be moving to the location of the target animal according to the location information of the target animal, and performing voice broadcast of the preset sound source and emitting a car light beam / emitting a laser.

7. The vehicle control method according to claim 2, characterized in that: After obtaining the environmental perception information of the target area by the vehicle according to the sound source information and the image information, the method further includes: Determine whether there is a dangerous target animal in the target risk area according to the environmental perception information, and the distance between the target risk area and the warning area is lower than a preset distance threshold; If there is a dangerous target animal in the target risk area, determining the behavior prediction information of the target animal according to the sound source information and the image information; Determining whether the target animal has a behavioral tendency to enter the warning area according to the behavior prediction information; If the target animal has a behavioral tendency to enter the warning area, a risk warning strategy of the entire vehicle for the target animal is determined, and the entire vehicle is controlled to perform a target risk warning operation corresponding to the risk warning strategy.

8. A vehicle control device, characterized in that: The device comprises: An acquisition unit, used to acquire sound source information and image information in a target area collected by an environment perception system; A perception unit, used for acquiring environmental perception information of the vehicle to the target area according to the sound source information and the image information; A judgment unit, used for judging whether there is a dangerous target animal in a preset warning area according to the environmental perception information; a determining unit, configured to determine a danger level of the target animal according to the environmental perception information if the target animal exists in the warning area; The warning unit is used to determine the target warning strategy of the whole vehicle according to the danger level, and control the whole vehicle to perform the target warning operation corresponding to the target warning strategy.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device includes one or more processors and one or more memories, wherein the one or more memories store at least one program code, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by the method according to any one of claims 1 to 7.

11. A vehicle, characterized in that: The vehicle includes the vehicle control device according to claim 8 or the electronic device according to claim 10.

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