A vehicle control method, device, medium, electronic equipment, and vehicle.

Abstract

This application relates to the field of intelligent vehicle technology, and particularly to a vehicle control method, device, medium, electronic device, and vehicle. The method includes: acquiring sound source information and image information within a target area collected by an environmental perception system; acquiring environmental perception information of the vehicle regarding the target area based on the sound source information and the image information; determining whether a dangerous target animal exists in a preset warning area based on the environmental perception information; if the target animal exists in the warning area, determining the danger level of the target animal based on the environmental perception information; determining a target warning strategy for the vehicle based on the danger level, and controlling the vehicle to execute target warning operations corresponding to the target warning strategy. This application can warn and drive away dangerous target animals entering a warning area, preventing dangerous situations and further improving user safety in specific environments.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicle technology, and in particular to a vehicle control method, device, medium, electronic equipment, and vehicle. Background Technology

[0002] With the development of autonomous driving technology, vehicles are equipped with various sensors such as cameras and radar, enabling driverless operation. As users' entertainment needs increase, they often drive to environments such as the suburbs, forests, and grasslands. These environments can present dangerous situations that compromise user safety. Current intelligent vehicles cannot effectively guarantee the safety of drivers and passengers in these specific environments, exhibiting safety deficiencies in certain situations. Summary of the Invention

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

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

[0005] According to one aspect of the embodiments of this application, a vehicle control method is provided, the method comprising:

[0006] Acquire sound source information and image information within the target area collected by the environmental perception system;

[0007] Based on the sound source information and the image information, the vehicle obtains environmental perception information of the target area;

[0008] Based on the environmental perception information, determine whether there are dangerous target animals in the preset warning area;

[0009] If the target animal is present in the warning area, the danger level of the target animal is determined based on the environmental perception information;

[0010] Based on the stated danger level, a target warning strategy for the entire vehicle is determined, and the entire vehicle is controlled to perform target warning operations corresponding to the stated target warning strategy.

[0011] In one embodiment of this application, based on the foregoing scheme, obtaining the vehicle's environmental perception information of the target area according to the sound source information and the image information includes:

[0012] The location information of the target sound source object is determined based on the sound source information, and the category information of the target sound source object is determined based on the location information and the image information;

[0013] Based on the image information, environmental information within the target area is determined, including meteorological information and time information;

[0014] Based on the location information, category information, and environmental information, the vehicle generates environmental perception information for the target area.

[0015] In one embodiment of this application, based on the foregoing scheme, determining whether a dangerous target animal exists in a preset warning area based on the environmental perception information includes:

[0016] Based on the category information, determine whether the target sound source object is the target animal;

[0017] If the target sound source object is the target animal, then determine whether the location information of the target sound source object is within the warning area;

[0018] If the location information of the target sound source object is within the warning area, then it is determined that the target animal exists within the warning area.

[0019] In one embodiment of this application, based on the foregoing scheme, determining the danger level of the target animal according to the environmental perception information includes:

[0020] The category information of the target animal is determined based on the environmental perception information;

[0021] If the category information falls within the first preset category range, then the danger level is determined to be Level 1;

[0022] If the category information falls within the range of the second preset category, then the hazard level is determined to be Level 2;

[0023] If the category information falls within the range of a third preset category, then the hazard level is determined to be level three.

[0024] If the category information falls within the range of the fourth preset category, then the danger level is determined to be level four.

[0025] In one embodiment of this application, based on the foregoing scheme, the target warning strategy includes a first warning strategy and a second warning strategy, and determining the target warning strategy for the entire vehicle according to the danger level includes:

[0026] The target removal method of the vehicle for the target animal is determined based on the danger level, and the first driving plan path of the vehicle is determined based on the danger level;

[0027] If a pre-set patrol strategy exists, a second driving plan path corresponding to the patrol strategy is obtained according to the patrol strategy;

[0028] A target driving path for the vehicle is generated based on the first driving path and the second driving path, and a first warning strategy for the vehicle is generated based on the target driving path and the target expulsion method.

[0029] If no pre-set patrol strategy exists, a second warning strategy for the entire vehicle is generated based on the first driving plan path and the target removal method.

[0030] In one embodiment of this application, based on the foregoing scheme, determining the target removal method of the vehicle for the target animal according to the danger level includes:

[0031] If the danger level is Level 1, then the target removal method is determined to be emitting a beam of vehicle lights based on the location information of the target animal;

[0032] If the danger level is level two, then the target removal method is determined to be a voice broadcast of a preset sound source and the emission of vehicle headlight beams based on the location information of the target animal;

[0033] If the danger level is level three, then the target removal method is determined to be emitting a laser beam based on the location information of the target animal;

[0034] If the danger level is level four, then the target removal method is determined to be moving to the location of the target animal based on the target animal's location information, and performing voice broadcast of the preset sound source and emitting vehicle headlight beams / emitting laser beams.

[0035] In one embodiment of this application, based on the foregoing scheme, after obtaining the vehicle's environmental perception information of the target area according to the sound source information and the image information, the method further includes:

[0036] Based on the environmental perception information, it is determined whether there are dangerous target animals in the target risk area, and the distance between the target risk area and the warning area is less than a preset distance threshold;

[0037] If a dangerous target animal exists in the target risk area, then the behavioral prediction information of the target animal is determined based on the sound source information and the image information;

[0038] Based on the behavioral prediction information, determine whether the target animal has a behavioral tendency to enter the warning area;

[0039] If the target animal exhibits a behavioral tendency to enter the warning area, a risk warning strategy for the target animal is determined, and the vehicle is controlled to execute a target risk warning operation corresponding to the risk warning strategy.

[0040] According to one aspect of the embodiments of this application, a vehicle control device is provided, the device comprising:

[0041] The acquisition unit is used to acquire sound source information and image information within the target area collected by the environmental perception system;

[0042] The sensing unit is used to obtain the vehicle's environmental perception information of the target area based on the sound source information and the image information;

[0043] The judgment unit is used to determine whether there is a dangerous target animal in the preset warning area based on the environmental perception information.

[0044] A determining unit is configured to determine the danger level of the target animal based on the environmental perception information if the target animal is present in the warning area.

[0045] The warning unit is used to determine the target warning strategy for the entire vehicle based on the danger level, and to control the entire vehicle to perform target warning operations corresponding to the target warning strategy.

[0046] According to one aspect of the embodiments of this application, a computer-readable storage medium is provided having a computer program stored thereon, the computer program including executable instructions that, when executed by a processor, implement the vehicle control method as described in the above embodiments.

[0047] According to one aspect of the embodiments of this application, an electronic device is provided, including: one or more processors; and a memory for storing executable instructions of the processors, which, when executed by the one or more processors, cause the one or more processors to implement the vehicle control method as described in the above embodiments.

[0048] According to one aspect of the present application, a vehicle is provided, the vehicle including a vehicle control device or an electronic device of the above embodiments.

[0049] The beneficial effects of this application are as follows: By acquiring sound source information and image information within the target area collected by the environmental perception system, where the target area can be the environmental area where the vehicle is located, the environmental perception information of the vehicle regarding the target area can be obtained based on the acquired sound source information and image information. Through this environmental perception information, it can be determined whether there are dangerous target animals in the preset warning area. If a target animal is present, meaning the driver or passengers outside the vehicle may be at risk of danger due to the animal's approach during rest, the danger level of the target animal can be determined, and the vehicle can be controlled to perform corresponding target warning operations to drive away the target animal, thus preventing dangerous situations and further improving user safety in specific environments. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of this application, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0051] Figure 1 This is a flowchart illustrating a vehicle control method according to an embodiment of this application;

[0052] Figure 2 This is a diagram illustrating the overall architecture of a vehicle control system according to an embodiment of this application;

[0053] Figure 3 This is a block diagram illustrating a vehicle control device according to an embodiment of this application;

[0054] Figure 4 This is a schematic diagram of the system structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0055] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0056] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0057] 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 can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller node devices.

[0058] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0059] It should be noted that "multiple" in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0060] The implementation details of the technical solutions in the embodiments of this application are described in detail below:

[0061] According to one aspect of the embodiments of this application, a vehicle control method is provided, wherein the vehicle control system includes an environmental perception system and a controller, and the method is executed on the controller. Figure 1 The flowchart illustrates a vehicle control method according to an embodiment of this application. The method includes at least steps S110 to S150, which are described in detail below:

[0062] In step S110, sound source information and image information within the target area are acquired by the environmental perception system.

[0063] Specifically, the vehicle control method of this application embodiment can be applied to intelligent vehicles with autonomous driving capabilities. That is, by having autonomous driving capabilities, intelligent vehicles can achieve patrol and expulsion functions, ensuring the safety of users when they are resting outside the vehicle in specific environments such as the suburbs or grasslands.

[0064] like Figure 2 As shown, the environmental perception system can be a visual + auditory fusion system obtained by fusing multiple sensors. This system includes a panoramic camera, a surround-view camera, LiDAR, ultrasonic radar, and an external microphone. The system uses these sensors to acquire sound source information and image information of the target area. It should be noted that... Figure 2 The vehicle control system shown is the controller described in the embodiments of this application.

[0065] The panoramic camera is one of the cameras in the panoramic camera system, a type of vehicle-mounted camera system. The vehicle control system in this embodiment includes a panoramic camera system, which consists of four panoramic cameras (front, rear, left, and right) installed in the four directions of the vehicle. These four cameras simultaneously capture image data of the vehicle's surroundings and transmit the image data to the controller, assisting the driver in observing the vehicle's surroundings while driving and improving driving safety. The panoramic camera system provides a comprehensive view of the vehicle, allowing the driver to better understand the surrounding environment, avoiding blind spots and reducing risks during lane changes, parking, and other maneuvers.

[0066] A surround-view camera is one of the cameras in a surround-view camera system. The vehicle control system includes a surround-view camera system, which is a multi-camera system composed of multiple cameras installed in all four directions of the vehicle and other key locations, such as the front and rear bumpers, and rearview mirrors. Through image processing and fusion of multiple cameras, a panoramic monitoring of the vehicle's surroundings is achieved. The surround-view camera system provides a more intuitive perspective, enabling the driver to better observe the situation around the vehicle.

[0067] The target area can be set according to needs. It can be set as a circular area within 50 meters of the vehicle or a circular area within 100 meters of the vehicle. The target area can be set arbitrarily.

[0068] In step S120, the environmental perception information of the vehicle regarding the target area is obtained based on the sound source information and the image information.

[0069] Specifically, an external microphone can acquire sound information within the target area. If sound is emitted within the target area, the sound source information can be collected. Surround-view and surround-view cameras can acquire image information within the target area, while lidar and ultrasonic radar can accurately determine the location of the target sound source object emitting sound within the target area. By combining the sound source information and the image information, the vehicle obtains environmental perception information about the target area. This environmental perception accurately determines the current environment of the vehicle, including the environment when the user is resting outside the vehicle. Further analysis of this environmental perception information can effectively prevent safety risks.

[0070] In one embodiment of this application, obtaining the vehicle's environmental perception information of the target area based on the sound source information and the image information includes:

[0071] The location information of the target sound source object is determined based on the sound source information, and the category information of the target sound source object is determined based on the location information and the image information;

[0072] Based on the image information, environmental information within the target area is determined, including meteorological information and time information;

[0073] Based on the location information, category information, and environmental information, the vehicle generates environmental perception information for the target area.

[0074] Specifically, an external microphone is used to locate sounds in the surrounding environment, thereby obtaining accurate sound source information, that is, the location information of the target sound source object. By combining the obtained location information and image information, the category information of the target sound source object can be further determined. In the embodiments of this 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, where the AI ​​(Artificial Intelligence) technology of the cloud server can be used for automatic identification and matching. The identification and matching results (environmental perception information) are then sent to the vehicle's controller, thereby obtaining the vehicle's environmental perception information of the target area.

[0075] Furthermore, category information refers to the type of the target sound source object, which can be specifically an animal. For example, by combining a dog's unique barking sound with its image information, and using AI big data's visual and auditory recognition technology, it is possible to quickly identify the presence of a dog in the target area, thereby enabling environmental perception of the target area.

[0076] In one embodiment of this application, the method further includes:

[0077] If the weather information indicates severe weather or the time information indicates a target time period, the vehicle's infrared cameras are activated to capture images of the target area and obtain target image data.

[0078] The latest category information of the target sound source object is determined based on the target image data;

[0079] Based on the location information, the latest category information, and the environmental information, the vehicle generates environmental perception information for the target area.

[0080] The target time period can be between 8 pm and 6 am. This target time period is used to characterize the current environment of the vehicle as having low environmental recognition, generally in the evening or at night.

[0081] Specifically, the environmental perception system also includes an infrared camera, which can perceive some scenes with low recognition, such as nighttime or rainy days. At this time, it can accurately identify the latest category information of the target sound source object, and the category data identified in the previous step based on the image information is replaced by the latest category data.

[0082] In step S130, the presence of a dangerous target animal in the preset warning area is determined based on the environmental perception information.

[0083] Specifically, the preset warning zone can be set according to actual needs. It can be a circular area within 20 meters of the vehicle or a circular area within 30 meters of the user's rest area outside the vehicle, depending on the actual requirements. It should be noted that the warning zone is covered by the target area, meaning the area of ​​the warning zone is smaller than the target area.

[0084] In one embodiment of this application, determining whether a dangerous target animal exists in a preset warning area based on the environmental perception information includes:

[0085] Based on the category information, determine whether the target sound source object is the target animal;

[0086] If the target sound source object is the target animal, then determine whether the location information of the target sound source object is within the warning area;

[0087] If the location information of the target sound source object is within the warning area, then it is determined that the target animal exists within the warning area.

[0088] Specifically, the target animals that pose a danger can be snakes, wolves, wild boars, tigers, leopards, and so on. Among them, the target animals can be a variety of animals that are harmful and dangerous.

[0089] By identifying the category information of the target sound source object, it can be determined 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 within the warning area. If it is within the warning area, it is determined that the target animal exists within the warning area, which may pose a safety risk to users in the outdoor rest area. It is necessary to take timely precautions to prevent dangerous situations from occurring.

[0090] In step S140, if the target animal is present in the warning area, the danger level of the target animal is determined based on the environmental perception information.

[0091] Specifically, if the target animal is a dangerous animal, such as a cat or dog, which poses a certain degree of danger but is not high, then the corresponding alert procedures will be adjusted accordingly. For example, the vehicle headlights can be turned on to shine on the animal and drive it away. However, if the target animal is a wild boar, tiger, or leopard, the headlights are no longer sufficient to deter it. In this case, the entire vehicle can be automatically controlled to drive it away, combined with methods such as emitting laser beams and playing sound signals.

[0092] In one embodiment of this application, determining the danger level of the target animal based on the environmental perception information includes:

[0093] The category information of the target animal is determined based on the environmental perception information;

[0094] If the category information falls within the first preset category range, then the danger level is determined to be Level 1;

[0095] If the category information falls within the range of the second preset category, then the hazard level is determined to be Level 2;

[0096] If the category information falls within the range of a third preset category, then the hazard level is determined to be level three.

[0097] If the category information falls within the range of the fourth preset category, then the danger level is determined to be level four.

[0098] Specifically, the embodiments of this application generally categorize dangerous target animals into four main types: small, medium, medium-large, and large. The first pre-defined category range represents small animals with a certain degree of danger, such as cats and dogs; the second pre-defined category range represents medium-sized animals with a certain degree of danger, such as snakes; the third pre-defined category range represents medium-large animals with a high degree of danger, such as wolves and wild boars; and the fourth pre-defined category range represents large animals with an extremely high degree of danger, such as tigers, leopards, and lions.

[0099] In step S150, a target warning strategy for the entire vehicle is determined based on the danger level, and the entire vehicle is controlled to perform target warning operations corresponding to the target warning strategy.

[0100] Specifically, different target warning strategies can be generated based on different hazard levels. That is, different hazard levels are determined based on different category information, and the target warning strategies to be executed will also differ accordingly. By controlling the vehicle to execute target warning operations corresponding to the aforementioned target warning strategies, that is, controlling... Figure 2 The vehicle's driving system performs corresponding target warning operations to drive away the target animals.

[0101] In one embodiment of this application, the target warning strategy includes a first warning strategy and a second warning strategy, and determining the target warning strategy for the entire vehicle based on the hazard level includes:

[0102] The target removal method of the vehicle for the target animal is determined based on the danger level, and the first driving plan path of the vehicle is determined based on the danger level;

[0103] If a pre-set patrol strategy exists, a second driving plan path corresponding to the patrol strategy is obtained according to the patrol strategy;

[0104] A target driving path for the vehicle is generated based on the first driving path and the second driving path, and a first warning strategy for the vehicle is generated based on the target driving path and the target expulsion method.

[0105] If no pre-set patrol strategy exists, a second warning strategy for the entire vehicle is generated based on the first driving plan path and the target removal method.

[0106] Specifically, users can set a patrol strategy before getting out of the vehicle to rest, which is the pre-set patrol strategy described in this application embodiment. The target removal method of the whole vehicle for the target animal is determined according to the danger level. That is, different target removal 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, it can be driven away by controlling the movement of the whole vehicle.

[0107] The first alert strategy can be specifically defined as follows: Determine the initial driving path for the entire vehicle based on different danger levels. For example, if the danger level is Level 1, and the target animal is a small animal with low risk, it can be driven away simply by light. In this case, the initial driving path is 0, meaning the entire vehicle does not need to move. However, if the target animal is a tiger, wolf, or other highly dangerous animal, then a planned initial driving path needs to be established to move the vehicle and drive it away. This initial driving path can be set to travel from the current location to a position 5 meters away from the target animal's location information. The movement path of the target animal is monitored in real time, and the initial driving path is dynamically adjusted until the target animal is driven out of the alert area.

[0108] If a pre-set patrol strategy exists, then the second driving plan path corresponding to the patrol strategy is obtained. That is, the second driving plan path that the user pre-sets for the whole vehicle to patrol within a certain range is obtained. By dynamically integrating the second driving plan path and the first driving plan path, the target driving plan path is planned in real time. This is done in a way that patrols while driving away, so as to ensure the safety of the user.

[0109] If there is no pre-set patrol strategy, then the second alert strategy for the whole vehicle will be generated directly based on the first driving plan path and the target removal method.

[0110] In one embodiment of this application, determining the target removal method of the vehicle towards the target animal based on the danger level includes:

[0111] If the danger level is Level 1, then the target removal method is determined to be emitting a beam of vehicle lights based on the location information of the target animal;

[0112] If the danger level is level two, then the target removal method is determined to be a voice broadcast of a preset sound source and the emission of vehicle headlight beams based on the location information of the target animal;

[0113] If the danger level is level three, then the target removal method is determined to be emitting a laser beam based on the location information of the target animal;

[0114] If the danger level is level four, then the target removal method is determined to be moving to the location of the target animal based on the target animal's location information, and performing voice broadcast of the preset sound source and emitting vehicle headlight beams / emitting laser beams.

[0115] Specifically, the preset sound sources can be pre-defined sounds, such as human or animal sounds played through a speaker, or sounds with a certain frequency. Small animals can be driven away directly with lights, while larger animals can be driven away using a combination of lights, sounds, and vehicle movement. Depending on the level of danger, corresponding warning messages can be generated and sent to the user, prompting them to get into the vehicle for safe passage. When necessary, vehicle lights, simulated sounds, horns, and even vehicle movement, collisions, or laser beams can be used to warn or drive away target animals.

[0116] In one embodiment of this application, after obtaining the vehicle's environmental perception information of the target area based on the sound source information and the image information, the method further includes:

[0117] Based on the environmental perception information, it is determined whether there are dangerous target animals in the target risk area, and the distance between the target risk area and the warning area is less than a preset distance threshold;

[0118] If a dangerous target animal exists in the target risk area, then the behavioral prediction information of the target animal is determined based on the sound source information and the image information;

[0119] Based on the behavioral prediction information, determine whether the target animal has a behavioral tendency to enter the warning area;

[0120] If the target animal exhibits a behavioral tendency to enter the warning area, a risk warning strategy for the target animal is determined, and the vehicle is controlled to execute a target risk warning operation corresponding to the risk warning strategy.

[0121] Specifically, the behavioral trends of the target animal can 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. In other words, taking 5 meters as an example, the target risk area is the area within 5 meters of the outermost edge of the warning area.

[0122] By using environmental perception information to determine whether dangerous target animals exist in the target risk area, and based on the behavioral prediction information, to judge whether the target animals have a behavioral tendency to enter the warning area, if the target animal has a behavioral tendency to enter the warning area, then a corresponding risk warning strategy is determined to control the entire vehicle to perform target risk warning operations corresponding to the risk warning strategy. For example, the vehicle may be controlled in advance to drive the target animal closer to the target animal and drive it away by means of sound, light, laser, or other means to prevent the target animal from entering the warning area and endangering the personal safety of the users. The patrol and warning function can be enabled or disabled by remote command via a mobile phone (mobile display screen), or the warning or patrol mode can be selected, such as whether the vehicle can move automatically. The surrounding environment is visually fused using infrared cameras and a visual fusion scheme of various cameras, and AI technology is applied to realize the recognition and matching of visual and auditory patterns.

[0123] In summary, this application can utilize the functions and equipment configuration of autonomous vehicles, combined with the vehicle's memory parking function and remote control technology, to achieve automatic patrolling of the vehicle. When a dangerous target animal is encountered, it can issue a warning or drive it away to prevent the target animal from entering the pre-set warning area and ensure the personal safety of the user.

[0124] The following are specific examples illustrating the application scenarios of this application:

[0125] First, when a user is fatigued and needs to rest, they can stop driving the vehicle and enter a warning mode, which corresponds to the vehicle control method described in this application embodiment.

[0126] Firstly, the vehicle can acquire sound and image information within the target area through an environmental perception system. The target area can be within 200 meters of the vehicle or within a 200-meter radius of a user-selected rest area. The environmental perception system uses panoramic and surround-view cameras, as well as a microphone array installed within the vehicle, to acquire image and sound information of the target area. Based on the image information, environmental information within the target area is determined. This environmental information includes weather and time information. Specifically, if it is nighttime or the vehicle is in a location similar to Takeda, where conventional panoramic and surround-view cameras may not provide a clear view of the area ahead, infrared cameras can be used to acquire image information, enabling better identification of dangerous target animals.

[0127] By combining sound source information and image information, it is determined whether there is a dangerous target animal within the warning area. The warning area can be an area within 50 meters of the vehicle or the rest area. In other words, the location information of the target sound source object is determined by using sound source information and image information. Then, based on the image information and sound source information, visual and auditory fusion is performed to determine whether the target sound source object is the target animal and what its category (type) is, so as to obtain the judgment result of the target animal.

[0128] Furthermore, if it is determined that there is a dangerous target animal in the warning area, then by combining image information with sound source information, it is determined which type of animal the current target animal belongs to. For example, based on the first round of identification results of image information, there are cats (55% probability) and dogs (43% probability). At this time, there are two major possibilities. Then, by combining sound source information, the category information of the current target animal can be distinguished by the sound source information of cat meows and dog barks.

[0129] Furthermore, since the target animal's category information is identified as a dog, the danger level of dogs can be determined to be Level 1 based on the pre-set danger levels for each animal category, indicating a relatively low level of harm. At this point, the vehicle's target alert strategy is determined based on this Level 1 danger level. First, it is determined whether the user pre-set a patrol strategy before getting out of the vehicle to rest. If the user has pre-set a patrol strategy, the planned path of the patrol strategy is merged with the currently planned path to obtain the target planned path. Then, the vehicle is controlled to patrol and / or drive away animals based on the target planned path.

[0130] Furthermore, once the target animal is confirmed to be a dog, appropriate methods can be used to drive it away. For example, if the dog's target driving method is a combination of light and horn, then the dog's location can be driven away using light and horn. If the dog is constantly moving, real-time updated image information can be obtained to determine the dog's latest location and use this information to drive it away. If the dog leaves the warning area, the target warning operation can be stopped, and the vehicle can continue patrolling according to the initial driving path in the patrol strategy.

[0131] Furthermore, a target risk area can be pre-defined. Compared to the warning area, the target risk area is farther from the user and the vehicle. Behavioral prediction information of the target animal can be determined using sound source information and the image information. Specifically, the physical characteristics of the target animal can be identified through the image information; for example, if a dog's front legs are forward, it indicates that the dog is approaching the vehicle or the user. This information is used as behavioral prediction information to determine whether the dog has a tendency to enter the warning area. If it is determined that the dog has a tendency to enter the warning area, a risk warning strategy for the target animal is determined. This involves controlling the vehicle to execute a target risk warning operation corresponding to the risk warning strategy. For example, the target risk warning operation for the dog could be a horn blast to scare it away, preventing the dog from approaching the edge of the warning area.

[0132] Figure 3 The diagram below shows a vehicle control device 300 according to an embodiment of this 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.

[0133] The acquisition unit 301 is used to acquire sound source information and image information within the target area collected by the environmental perception system.

[0134] The sensing unit 302 is used to obtain the vehicle's environmental perception information of the target area based on the sound source information and the image information.

[0135] The judgment unit 303 is used to determine whether there is a dangerous target animal in the preset warning area based on the environmental perception information.

[0136] The determining unit 304 is used to determine the danger level of the target animal based on the environmental perception information if the target animal is present in the warning area.

[0137] The warning unit 305 is used to determine the target warning strategy for the whole vehicle based on the danger level, and control the whole vehicle to perform target warning operations corresponding to the target warning strategy.

[0138] In another aspect, this application also provides a computer-readable storage medium storing a program product capable of implementing the methods provided above in this specification. In some possible implementations, various aspects of this application may also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of this application.

[0139] The program product for implementing the above-described method according to the embodiments of this application may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of this application is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0140] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0141] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0142] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0143] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0144] In another respect, this application also provides an electronic device capable of implementing the above-described method.

[0145] This application also provides a vehicle, which includes an electric drive assembly of the aforementioned vehicle control device or electronic equipment. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle can be a gasoline-powered 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.

[0146] It is understood that the content of the above method embodiments is applicable to this vehicle embodiment. The specific functions implemented in this vehicle embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0147] Those skilled in the art will understand that various aspects of this application can be implemented as a system, method, or program product. Therefore, various aspects of this application can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as a "circuit," "module," or "system."

[0148] The following reference Figure 4 To describe an electronic device 400 according to this embodiment of the present application. Figure 4 The electronic device 400 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0149] like Figure 4As shown, the electronic device 400 is manifested in the form of a general-purpose 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 storage unit 420 and processing unit 410).

[0150] The storage unit stores program code that can be executed by the processing unit 410, causing the processing unit 410 to perform the steps described in the "Embodiment Methods" section above according to various exemplary embodiments of this application.

[0151] Storage unit 420 may include readable media in the form of volatile storage units, such as random access memory (RAM) 421 and / or cache memory 422, and may further include read-only memory (ROM) 423.

[0152] Storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0153] Bus 430 can represent one or more of several types of bus structures, including a memory cell bus or memory cell control node, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0154] Electronic device 400 can also communicate with one or more external devices 1200 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 400, and / or with any device that enables electronic device 400 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 450. Furthermore, electronic device 400 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 460. As shown, network adapter 460 communicates with other modules of electronic device 400 via bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with 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.

[0155] The vehicle control method, device, medium, and electronic equipment provided in this application acquire sound source information and image information within a target area collected by the environmental perception system. The target area can be the environmental area where the vehicle is located. Based on the acquired sound source information and image information, the vehicle's environmental perception information of the target area can be obtained. The environmental perception information can determine whether a dangerous target animal exists in a preset warning area. If a target animal is present, meaning the driver or passengers outside the vehicle may be at risk of danger due to its approach, the danger level of the target animal is determined, and the vehicle is controlled to perform corresponding target warning operations to drive the target animal away, preventing dangerous situations and further improving user safety in specific environments. Utilizing the functions and equipment configuration of autonomous vehicles, combined with the vehicle's memory parking function and remote control technology, automatic vehicle patrol can be achieved. When a dangerous target animal is encountered, warnings or driving it away can be issued to prevent the target animal from entering the preset warning area, ensuring user safety.

[0156] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this application.

[0157] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this application, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0158] It should be understood that this application is not limited to the precise structure 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 application is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Acquire sound source information and image information within the target area collected by the environmental perception system; Based on the sound source information and the image information, the vehicle obtains environmental perception information of the target area; Based on the environmental perception information, determine whether there are dangerous target animals in the preset warning area; If the target animal is present in the warning area, the danger level of the target animal is determined based on the environmental perception information; The target warning strategy for the entire vehicle is determined based on the aforementioned hazard level, and the entire vehicle is controlled to perform target warning operations corresponding to the aforementioned target warning strategy. The target warning strategy includes a first warning strategy and a second warning strategy. Determining the target warning strategy for the entire vehicle based on the hazard level includes: The target removal method of the vehicle for the target animal is determined based on the danger level, and the first driving plan path of the vehicle is determined based on the danger level; If a pre-set patrol strategy exists, a second driving plan path corresponding to the patrol strategy is obtained according to the patrol strategy; A target driving path for the vehicle is generated based on the first driving path and the second driving path, and a first warning strategy for the vehicle is generated based on the target driving path and the target expulsion method. If no pre-set patrol strategy exists, a second warning strategy for the entire vehicle is generated based on the first driving plan path and the target removal method. The method of determining the vehicle's target removal mechanism for the target animal based on the danger level includes: If the danger level is Level 1, then the target removal method is determined to be emitting a beam of vehicle lights based on the location information of the target animal; If the danger level is level two, then the target removal method is determined to be a voice broadcast of a preset sound source and the emission of vehicle headlight beams based on the location information of the target animal; If the danger level is level three, then the target removal method is determined to be emitting a laser beam based on the location information of the target animal; If the danger level is level four, then the target removal method is determined to be moving to the location of the target animal based on the target animal's location information, and performing voice broadcast of the preset sound source and emitting vehicle headlight beams / emitting laser beams.

2. The vehicle control method according to claim 1, characterized in that, The step of obtaining the vehicle's environmental perception information of the target area based on the sound source information and the image information includes: The location information of the target sound source object is determined based on the sound source information, and the category information of the target sound source object is determined based on the location information and the image information; Based on the image information, environmental information within the target area is determined, including meteorological information and time information; Based on the location information, category information, and environmental information, the vehicle generates environmental perception information for the target area.

3. The vehicle control method according to claim 2, characterized in that, The step of determining whether a dangerous target animal exists in the preset warning area based on the environmental perception information includes: Based on the category information, determine whether the target sound source object is the target animal; If the target sound source object is the target animal, then determine 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, then 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 based on the environmental perception information includes: The category information of the target animal is determined based on the environmental perception information; If the category information falls within the first preset category range, then the danger level is determined to be Level 1; If the category information falls within the range of the second preset category, then the hazard level is determined to be Level 2; If the category information falls within the range of a third preset category, then the hazard level is determined to be level three. If the category information falls within the range of the fourth preset category, then the danger level is determined to be level four.

5. The vehicle control method according to claim 2, characterized in that, After obtaining the vehicle's environmental perception information of the target area based on the sound source information and the image information, the method further includes: Based on the environmental perception information, it is determined whether there are dangerous target animals in the target risk area, and the distance between the target risk area and the warning area is less than a preset distance threshold; If a dangerous target animal exists in the target risk area, then the behavioral prediction information of the target animal is determined based on the sound source information and the image information; Based on the behavioral prediction information, determine whether the target animal has a behavioral tendency to enter the warning area; If the target animal exhibits a behavioral tendency to enter the warning area, a risk warning strategy for the target animal is determined, and the vehicle is controlled to execute a target risk warning operation corresponding to the risk warning strategy.

6. A vehicle control device, characterized in that, The device includes: The acquisition unit is used to acquire sound source information and image information within the target area collected by the environmental perception system; The sensing unit is used to obtain the vehicle's environmental perception information of the target area based on the sound source information and the image information; The judgment unit is used to determine whether there is a dangerous target animal in the preset warning area based on the environmental perception information. A determining unit is configured to determine the danger level of the target animal based on the environmental perception information if the target animal is present in the warning area. The warning unit is used to determine the target warning strategy for the whole vehicle based on the danger level, and to control the whole vehicle to perform target warning operations corresponding to the target warning strategy. The target warning strategy includes a first warning strategy and a second warning strategy. Determining the target warning strategy for the entire vehicle based on the hazard level includes: The target removal method of the vehicle for the target animal is determined based on the danger level, and the first driving plan path of the vehicle is determined based on the danger level; If a pre-set patrol strategy exists, a second driving plan path corresponding to the patrol strategy is obtained according to the patrol strategy; A target driving path for the vehicle is generated based on the first driving path and the second driving path, and a first warning strategy for the vehicle is generated based on the target driving path and the target expulsion method. If no pre-set patrol strategy exists, a second warning strategy for the entire vehicle is generated based on the first driving plan path and the target removal method. The method of determining the vehicle's target removal mechanism for the target animal based on the danger level includes: If the danger level is Level 1, then the target removal method is determined to be emitting a beam of vehicle lights based on the location information of the target animal; If the danger level is level two, then the target removal method is determined to be a voice broadcast of a preset sound source and the emission of vehicle headlight beams based on the location information of the target animal; If the danger level is level three, then the target removal method is determined to be emitting a laser beam based on the location information of the target animal; If the danger level is level four, then the target removal method is determined to be moving to the location of the target animal based on the target animal's location information, and performing voice broadcast of the preset sound source and emitting vehicle headlight beams / emitting laser beams.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to perform the operations performed by the method as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, The electronic device includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to perform the operation performed by the method as described in any one of claims 1 to 5.

9. A vehicle, characterized in that, The vehicle includes the vehicle control device as described in claim 6 or the electronic device as described in claim 8.

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