Vehicle control method and device based on an external target object, electronic equipment and storage medium

Abstract

The application relates to the technical field of vehicle control, and discloses a vehicle control method and device based on an external target object, an electronic device and a storage medium, the method comprising the following steps: acquiring current infrared detection data and non-infrared detection data of a target object; acquiring a current light intensity and a first confidence coefficient of the infrared detection data based on the current light intensity; taking the product of the infrared detection data and the first confidence coefficient as first data, taking the product of the non-infrared detection data and a second confidence coefficient as second data, and taking the sum of the first data and the second data as target detection data; acquiring a motion state of the target object and a positional relationship between the target object and a vehicle based on the target detection data, and controlling the vehicle according to the motion state and the positional relationship. Therefore, the target detection data can be reasonably obtained by combining the infrared detection data and the non-infrared detection data, the detection data of various detection devices can be comprehensively utilized, and the vehicle can be well controlled based on the target detection data.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle control method and device based on an external target object, an electronic device and a storage medium. BACKGROUND

[0002] With the development and popularization of intelligent driving industry in recent years, the target detection function of detection devices such as radar and camera has been widely used in passive safety prompt, AEB, FCW, advanced auxiliary driving and other aspects, which can cover most roads, conventional weather and scenes. In a relatively harsh environment, such as heavy rain, fog and other extreme scenes, the sensing ability of radar and camera is limited, which may cause the inability to accurately identify the target state of pedestrians, vehicles and other targets in front of the road, and may cause traffic accidents due to the inability to react in time.

[0003] Although the detection ability of infrared detection device is stronger in the night, rain, snow, fog and dust conditions, the infrared detection data and the detection data of other detection devices of the vehicle cannot be well utilized. Therefore, even if the vehicle is equipped with infrared detection equipment, it cannot well play the detection role of all detection devices. SUMMARY

[0004] In view of the above problems, the present application provides a vehicle control method and device based on an external target object, an electronic device and a storage medium, which can reasonably obtain target detection data through infrared detection data and non-infrared detection data, so as to well utilize the detection data of each detection device and well control the vehicle based on the target detection data.

[0005] The first aspect of the present application provides a vehicle control method based on an external target object, comprising: acquiring current infrared detection data and non-infrared detection data of a target object; wherein the infrared detection data is detected by an infrared detection device; acquiring the current light intensity of the environment where the vehicle is located, and acquiring a first confidence coefficient corresponding to the infrared detection data based on the current light intensity; multiplying the infrared detection data and the first confidence coefficient to obtain first data, multiplying the non-infrared detection data and a second confidence coefficient to obtain second data, and adding the first data and the second data to obtain target detection data; wherein the second confidence coefficient is 1 minus the first confidence coefficient; acquiring the motion state of the target object and the positional relationship with the vehicle based on the target detection data, and controlling the vehicle according to the motion state and the positional relationship.

[0006] In some embodiments, before the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current light intensity, the method further comprises: obtaining a current rainfall and / or a current wiper gear position of an environment in which the vehicle is located; and the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current light intensity comprises: obtaining the first confidence coefficient corresponding to the infrared detection data based on the current rainfall and / or the current wiper gear position and the current light intensity.

[0007] In some embodiments, the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current rainfall and / or the current wiper gear position and the current light intensity comprises: determining a preset combination corresponding to a preset rainfall range in which the current rainfall is located and / or a preset light intensity range in which the current light intensity is located; wherein the preset combination is composed of the preset rainfall range and / or the current wiper gear position and the preset light intensity; and determining the first confidence coefficient according to the preset combination and a preset relationship; wherein the corresponding relationship between the first confidence coefficient and the preset combination is the preset relationship.

[0008] In some embodiments, the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current rainfall and / or the current wiper gear position and the current light intensity comprises: obtaining a first coefficient based on the current rainfall and / or the current wiper gear position, and obtaining a second coefficient based on the current light intensity; and obtaining the first confidence coefficient corresponding to the infrared detection data based on the first coefficient and the second coefficient.

[0009] In some embodiments, the step of obtaining the first coefficient based on the current rainfall and / or the current wiper gear position, and obtaining the second coefficient based on the current light intensity comprises: determining a first sub-coefficient according to a preset rainfall range in which the current rainfall is located, and / or determining a second sub-coefficient according to the current wiper gear position, and determining the first coefficient according to the first sub-coefficient and the second sub-coefficient; and determining the second coefficient according to a preset light intensity range in which the current light intensity is located; wherein a preset rainfall range with a larger average value corresponds to a larger first sub-coefficient, a wiper gear position with a higher gear position corresponds to a larger second sub-coefficient, and a preset light intensity range with a larger average value corresponds to a larger second coefficient.

[0010] In some embodiments, the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the first coefficient and the second coefficient comprises: obtaining a coefficient difference value between the first coefficient and the second coefficient; if the coefficient difference value is less than or equal to a preset coefficient difference value, taking a larger one of the first coefficient and the second coefficient as the first confidence coefficient corresponding to the infrared detection data; and if the coefficient difference value is greater than the preset coefficient difference value, taking the second coefficient as the first confidence coefficient.

[0011] In some embodiments, the non-infrared detection data includes first type detection data and second type detection data, the first type detection data and the second type detection data are respectively detected by different types of detection devices; and the product of the non-infrared detection data and the second confidence coefficient is taken as the second data, including: dividing the sum of the first type detection data and the second type detection data by two to obtain a quotient value, and taking the product of the quotient value and the second confidence coefficient as the second data.

[0012] The second aspect of the present application provides a vehicle control device based on an external target object, including: an acquisition module, configured to acquire current infrared detection data and non-infrared detection data of the target object; wherein the infrared detection data is detected by an infrared detection device and is used to acquire the current illumination intensity of the environment in which the vehicle is located; a processing module, configured to acquire a first confidence coefficient corresponding to the infrared detection data based on the current illumination intensity; and configured to take the product of the infrared detection data and the first confidence coefficient as first data, take the product of the non-infrared detection data and a second confidence coefficient as second data, and take the sum of the first data and the second data as target detection data; wherein the second confidence coefficient is 1 minus the first confidence coefficient.

[0013] The third aspect of the present application provides an electronic device, including: a processor; a memory, configured to store a computer program, the computer program is executed by the processor to realize the vehicle control method of any one of the above.

[0014] The fourth aspect of the present application provides a computer readable storage medium, the storage medium stores a computer program, the computer program is executed by the processor to realize the vehicle control method of any one of the above.

[0015] The application has at least the following beneficial technical effects: based on the vehicle control method, device, electronic equipment and storage medium provided by the application, the method comprises: acquiring current infrared detection data and non-infrared detection data of a target object; wherein the infrared detection data is detected by an infrared detection device; acquiring the current light intensity of the environment where the vehicle is located, and acquiring a first confidence coefficient corresponding to the infrared detection data based on the current light intensity; multiplying the infrared detection data and the first confidence coefficient to obtain first data, multiplying the non-infrared detection data and a second confidence coefficient to obtain second data, and taking the sum of the first data and the second data as target detection data; wherein the second confidence coefficient is 1 minus the first confidence coefficient; acquiring the motion state and the position relationship with the vehicle of the target object based on the target detection data, and controlling the vehicle according to the motion state and the position relationship. Therefore, the confidence coefficients of the infrared detection data and the non-infrared detection data are allocated based on the current light intensity, the final target detection data can be reasonably obtained through the infrared detection data and the non-infrared detection data, and the detection data of each detection device can be comprehensively utilized to control the vehicle based on the target detection data.

[0016] The above description is only a summary of the technical solutions of the embodiments of the application, in order to more clearly understand the technical means of the embodiments of the application, the embodiments of the application can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the embodiments of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are only used to show the embodiments and are not considered as limitations of the application. Moreover, the same reference signs are used to represent the same parts throughout the drawings. In the drawings:

[0018] Figure 1 is a flowchart of an embodiment of the vehicle control method based on the target object outside the vehicle provided by the application;

[0019] Figure 2 is a flowchart of another embodiment of the vehicle control method based on the target object outside the vehicle provided by the application;

[0020] Figure 3 is a flowchart of another embodiment of the vehicle control method based on the target object outside the vehicle provided by the application;

[0021] Figure 4 is a flowchart of another embodiment of the vehicle control method based on the target object outside the vehicle provided by the application;

[0022] Figure 5 is a flowchart of another embodiment of the vehicle control method based on the target object outside the vehicle provided by the application;

[0023] Figure 6 is a flowchart of another embodiment of the vehicle control method based on an out-of-vehicle target object provided by the present application;

[0024] Figure 7 is a structural block diagram of an embodiment of the vehicle control device based on an out-of-vehicle target object provided by the present application;

[0025] Figure 8 is a structural framework diagram of an embodiment of the electronic device provided by the present application;

[0026] Figure 9 is a structural framework diagram of an embodiment of the computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0027] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor fall within the scope of protection of the present application.

[0028] If the description of "first", "second", etc. is involved in the embodiments of the present application, the description of "first", "second", etc. is only for the purpose of description and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B schemes. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can implement it. When the combination of technical solutions appears contradictory or unimplementable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0029] The first aspect of the present application provides a vehicle control method based on an out-of-vehicle target object, Figure 1 is a flowchart of an embodiment of the vehicle control method based on an out-of-vehicle target object provided by the present application. In combination with Figure 1 , the method comprises the following steps:

[0030] S101: Obtain the current infrared detection data and non-infrared detection data of the target object; wherein the infrared detection data is obtained by an infrared detection device.

[0031] It should be understood that the target object is a detection object outside the vehicle, and the target object can be a pedestrian, another vehicle, an object, etc. During the driving of the vehicle, the target object is detected by the detection device to obtain detection information such as the motion state of the target object and the positional relationship between the target object and the vehicle, so that the vehicle and the driver can make further reactions according to the detection information, thereby avoiding traffic accidents. Among them, the target object can be multiple, that is, the vehicle can simultaneously detect multiple target objects, and then comprehensively make the next reaction according to the detection information of the multiple target objects.

[0032] Among them, the vehicle can be provided with an infrared detection device and a non-infrared detection device to detect the target object through the infrared detection device and the non-infrared detection device respectively, and then obtain infrared detection data and non-infrared detection data respectively. At this time, the current infrared detection data and non-infrared detection data of the target detection object are obtained, that is, the infrared detection data currently detected by the infrared detection device and the non-infrared detection data currently detected by the non-infrared detection device are obtained.

[0033] In some application scenarios, the non-infrared detection device can only include one type of device, or can include multiple types of devices, which are not limited here. The non-infrared detection device can be a radar type detection device, or a camera type detection device. Among them, the radar type detection device can be a laser radar, a millimeter wave radar, an ultrasonic radar, etc., and the camera type detection device can be an optical camera, etc., which are not limited in this embodiment.

[0034] In some application scenarios, the infrared detection data and the non-infrared detection data can both include motion data of the target object and self-characteristic data. Among them, the motion data can include the lateral speed and longitudinal speed of the target object relative to the vehicle, the lateral distance and longitudinal distance of the target object relative to the vehicle, etc., and the self-characteristic data can include the height and lateral length of the target object, etc.

[0035] S102: Obtain the current light intensity of the environment where the vehicle is located, and obtain a first confidence coefficient corresponding to the infrared detection data based on the current light intensity.

[0036] The vehicle can be provided with a light sensor to obtain the current light intensity of the environment where the vehicle is located through the light sensor. Among them, the light intensity can be represented by illuminance, which is a physical quantity reflecting the light intensity, and lux is the unit of illuminance.

[0037] It should be understood that the current light intensity can reflect the light and dark degree of the environment where the vehicle is located, and can also reflect the severity of the environment where the vehicle is located during the day. For example, during the day, if it is a rainy day, a smog day, a sandstorm day, etc., the light intensity will generally be low.

[0038] When the current light intensity is low, the environment where the vehicle is located is generally poor, and the detection effect of the non-infrared detection device of the vehicle on the target object is poor, but the detection effect of the infrared detection device on the target object is generally not affected. In this case, when using non-infrared detection data and infrared detection data at the same time, in order to have better detection effect on the target object, it is necessary to focus on using the infrared detection data of the infrared detection device.

[0039] The first confidence coefficient actually reflects the importance of the infrared detection data. The greater the first confidence coefficient, the greater the degree of use of the infrared detection data. The first confidence coefficient is less than 1 and greater than a certain preset value. The greater than a certain preset value is to ensure that the use of infrared detection data will not be lower than a certain degree in any case. The less than 1 is to ensure that non-infrared detection data can be used.

[0040] In combination with the above, since the lower the light intensity, the greater the degree of use of the infrared detection data, a larger first confidence coefficient can be corresponded to a lower light intensity. In this embodiment, a plurality of preset light intensity ranges can be provided, and different preset light intensity ranges do not overlap and constitute a continuous interval. At this time, different first confidence coefficients correspond to different preset light intensity ranges, and larger first confidence coefficients correspond to preset light intensity ranges with smaller average values. At this time, after the current light intensity is obtained, the corresponding first confidence coefficient can be determined according to the preset light intensity range in which the current light intensity is located.

[0041] In some application scenarios, the preset light intensity range can include: less than or equal to 30 lux; greater than 30 lux and less than or equal to 100 lux; greater than 100 lux and less than or equal to 300 lux; and greater than 300 lux. At this time, the four preset light intensity ranges correspond to different first confidence coefficients respectively. For example, the first confidence coefficient corresponding to less than or equal to 30 lux is 90%; the first confidence coefficient corresponding to greater than 30 lux and less than or equal to 100 lux is 80%; the first confidence coefficient corresponding to greater than 100 lux and less than or equal to 300 lux is 70%; and the first confidence coefficient corresponding to greater than 300 lux is 50%. Of course, the setting method here is only an exemplary setting method.

[0042] S103: The product of the infrared detection data and the first confidence coefficient is taken as the first data, the product of the non-infrared detection data and the second confidence coefficient is taken as the second data, and the sum of the first data and the second data is taken as the target detection data; wherein the second confidence coefficient is 1 minus the first confidence coefficient.

[0043] After the first confidence coefficient is obtained, the second confidence coefficient can be obtained by subtracting the first confidence coefficient from 1. At this time, the second confidence coefficient is also less than 1 and less than a certain value. For example, when the minimum value of the first confidence coefficient is 50%, the maximum value of the second confidence coefficient is 50%.

[0044] After the first confidence coefficient and the second confidence coefficient are obtained, the first data can be obtained by the first confidence coefficient and the infrared detection data, and the second data can be obtained by the second confidence coefficient and the non-infrared detection data, and then the target detection data is obtained.

[0045] In combination with the specific acquisition manner of the target detection data, it can be known that the greater the first confidence coefficient is, the greater the first data obtained is, that is, the greater the utilization degree of the infrared detection data in determining the target detection data.

[0046] In summary, based on the current light intensity, the confidence coefficients of the infrared detection data and the non-infrared detection data are allocated, the final target detection data can be reasonably obtained through the infrared detection data and the non-infrared detection data, and then the detection data of each detection device can be well utilized. And when the current light intensity is low, the corresponding first confidence coefficient is large, and then the infrared detection data is used to a greater extent in determining the target detection data, which meets the actual demand that the infrared detection device needs to be used to a greater extent in a low light intensity environment.

[0047] S104: Based on the target detection data, the motion state of the target object and the position relationship relative to the vehicle are obtained, and the vehicle is controlled according to the motion state and the position relationship.

[0048] After the target detection data is obtained, the motion state of the target object and the position relationship of the target object relative to the vehicle can be obtained based on the target detection data, and then the possibility of the target object causing risk to the vehicle can be obtained according to the motion state, the position relationship and the driving parameter of the vehicle itself, and further vehicle control can be made according to the possibility.

[0049] In some reference scenarios, when it is determined according to the target detection data that there is a risk of collision between the vehicle and the target object, the vehicle can be controlled to make a deceleration response, a turning response, a route changing response, etc., without specific limitation, to ensure the driving safety of the vehicle.

[0050] In combination with the above content, since the obtained target detection data comprehensively utilizes each detection device, it will be more accurate, and then the motion state and the position relationship of the target object obtained based on the target detection data are more accurate. Therefore, when the vehicle is controlled based on the target detection data, the collision risk of the vehicle can be reduced, and the driving safety of the vehicle can be improved.

[0051] Figure 2 is a flowchart of another embodiment of the vehicle control method based on an off-vehicle target object provided by the present application.

[0052] In combination Figure 2 In some embodiments, the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current light intensity is preceded by:

[0053] S201: Obtain the current rainfall and / or the current wiper gear position of the environment in which the vehicle is located.

[0054] In this embodiment, not only the current light intensity is obtained, but also the current rainfall and / or the current wiper gear position of the environment in which the vehicle is located. This step can be performed together with the step of obtaining the current light intensity of the vehicle. A rainfall sensor can be provided on the vehicle, and the current rainfall can be obtained through the rainfall sensor. The unit of rainfall can be millimeters. The current wiper gear position can be obtained directly from the relevant controller, for example, directly from the wiper controller. The wiper gear position can include 0 gear, low gear, medium gear, and high gear, etc.

[0055] It should be understood that obtaining the current rainfall and / or the current wiper gear position of the environment in which the vehicle is located can be obtaining the current rainfall and the current wiper gear position of the environment in which the vehicle is located, or only obtaining the current rainfall of the environment in which the vehicle is located, or only obtaining the current wiper gear position.

[0056] In combination with the current rainfall and / or the current wiper gear position obtained in the above step, in this embodiment, the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current light intensity includes:

[0057] S202: Obtain the first confidence coefficient corresponding to the infrared detection data based on the current rainfall and / or the current wiper gear position, and the current light intensity.

[0058] It should be understood that if the current rainfall and the current wiper gear position are obtained in the above step, then this step is to obtain the first confidence coefficient corresponding to the infrared detection data based on the current rainfall, the current wiper gear position, and the current light intensity. If only the current rainfall is obtained in the above step, then this step is to obtain the first confidence coefficient corresponding to the infrared detection data based on the current rainfall and the current light intensity. If only the current wiper gear position is obtained in the above step, then this step is to obtain the first confidence coefficient corresponding to the infrared detection data based on the current wiper gear position and the current light intensity.

[0059] It should be understood that the current rainfall directly reflects the amount of rainfall in the current environment, and the current wiper gear position indirectly reflects the amount of rainfall in the current environment. In addition, in a rainy environment, the detection effect of the non-infrared detection device on the target object is not good, but the detection effect of the infrared detection device is not affected. Therefore, the current rainfall and / or the current wiper gear position are introduced in this embodiment, so that the determined first confidence coefficient is more in line with the actual application scenario.

[0060] Figure 3 is a flowchart of another embodiment of the vehicle control method based on the vehicle exterior target object provided by the present application.

[0061] In combination Figure 3 , based on the above embodiments, in some specific embodiments, the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current rainfall and / or the current wiper gear position, and the current light intensity, that is, the above step S202, comprises:

[0062] S301: Determine the preset combination corresponding to the preset rainfall range in which the current rainfall is located and / or the current wiper gear position, and the preset light intensity range in which the current light intensity is located; wherein the preset combination is composed of the preset rainfall range and / or the wiper gear position, and the preset light intensity range.

[0063] Among them, the preset combination can include three combinations, which are the first combination of the preset rainfall range, the wiper gear position and the preset light intensity range, the second combination of the preset rainfall range and the preset light intensity range, and the third combination of the wiper gear position and the preset light intensity range.

[0064] For example, if the current rainfall, the current wiper gear position and the current light intensity are obtained, the preset rainfall range in which the current rainfall is located, the current wiper gear position and the preset light intensity range in which the current light intensity is located are compared with the preset combination to determine the first combination of the corresponding preset rainfall range, wiper gear position and preset light intensity range.

[0065] S302: Determine the corresponding first confidence coefficient according to the preset combination and the preset relationship; wherein the corresponding relationship between the first confidence coefficient and the preset combination is the preset relationship.

[0066] Different preset combinations correspond to different first confidence coefficients, and a one-to-one corresponding relationship is established as a preset relationship. After obtaining the preset combination, the corresponding first confidence coefficient can be directly determined according to the preset combination and the preset relationship.

[0067] Figure 4 is a flowchart of another embodiment of the vehicle control method based on the vehicle exterior target object provided by the present application.

[0068] In combination Figure 4 In combination with the above embodiments, in some specific embodiments, the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current rainfall and / or the current wiper position, and the current illumination intensity, i.e., the above step S202, comprises:

[0069] S401: Obtain the first coefficient based on the current rainfall and / or the current wiper position, and obtain the second coefficient based on the current illumination intensity.

[0070] The present embodiment provides another way of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current rainfall and / or the current wiper position, and the current illumination intensity. Different from the above embodiments which obtain the first confidence coefficient by comprehensively considering multiple parameters, the present embodiment obtains intermediate parameters by different parameters respectively, and finally obtains the first confidence coefficient by the intermediate parameters.

[0071] The specific way of obtaining the first coefficient based on the current rainfall and / or the current wiper position can be pre-set, and the way of obtaining the second coefficient based on the current illumination intensity can also be pre-set, which is not specifically limited herein.

[0072] S402: Obtain the first confidence coefficient corresponding to the infrared detection data based on the first coefficient and the second coefficient.

[0073] After obtaining the first coefficient and the second coefficient, the first confidence coefficient corresponding to the infrared detection data is further obtained based on the first coefficient and the second coefficient. The way of obtaining the first confidence coefficient based on the first coefficient and the second coefficient is pre-set, but is not specifically limited in the present embodiment.

[0074] Figure 5 is a flowchart of still another embodiment of the vehicle control method based on an external target object provided by the present application.

[0075] In combination Figure 5 In some specific embodiments, the step of obtaining the first coefficient based on the current rainfall and / or the current wiper position, and obtaining the second coefficient based on the current illumination intensity, i.e., the above step S401, comprises:

[0076] S501: Determine the first sub-coefficient according to the current rainfall range, and / or determine the second sub-coefficient according to the current wiper position, and determine the first coefficient according to the first sub-coefficient and the second sub-coefficient.

[0077] The preset rainfall range can include four ranges, for example, greater than or equal to 0 mm and less than 10 mm, greater than or equal to 10 mm and less than 50 mm, greater than or equal to 50 mm and less than 100 mm, and 100 mm or more, but the present application is not limited thereto. The preset rainfall range and the first sub-coefficient have a preset corresponding relationship, and the preset rainfall range with a larger average corresponds to a larger first sub-coefficient. For example, the first sub-coefficient corresponding to the range greater than or equal to 10 mm and less than 50 mm is greater than the first sub-coefficient corresponding to the range greater than or equal to 0 mm and less than 10 mm.

[0078] In some application scenarios, the first sub-coefficient corresponding to 100 mm or more can be 90%; the first sub-coefficient corresponding to greater than or equal to 50 mm and less than 100 mm can be 80%; the first sub-coefficient corresponding to greater than or equal to 10 mm and less than 50 mm can be 70%; and the first sub-coefficient corresponding to greater than or equal to 0 mm and less than 10 mm can be 50%.

[0079] The wiper gear and the second sub-coefficient also have a preset corresponding relationship, and the wiper gear with a higher gear corresponds to a larger second sub-coefficient. For example, the second sub-coefficient corresponding to the high gear is greater than the second sub-coefficient corresponding to the medium gear.

[0080] In some application scenarios, the second sub-coefficient corresponding to the high gear can be 90%; the second sub-coefficient corresponding to the medium gear can be 80%; the second sub-coefficient corresponding to the low gear can be 70%; and the second sub-coefficient corresponding to the 0 gear can be 50%.

[0081] In combination with the above embodiments, since the obtained parameters have three cases, one is having both the current rainfall and the current wiper gear, one is only having the current rainfall, and the other is only having the current wiper gear.

[0082] Therefore, in this step, the first sub-coefficient and the second sub-coefficient can be obtained, or only the first sub-coefficient can be obtained, or only the second sub-coefficient can be obtained. At this time, in the step of determining the first coefficient according to the first sub-coefficient and the second sub-coefficient, if the relevant coefficients are not obtained, it can be considered as 0. If the first sub-coefficient and the second sub-coefficient are obtained, the larger one of the first sub-coefficient and the second sub-coefficient can be taken as the first coefficient, or the average of the first sub-coefficient and the second sub-coefficient can be taken as the first coefficient. If only the first sub-coefficient is obtained, the first sub-coefficient can be taken as the first coefficient. If only the second sub-coefficient is obtained, the second sub-coefficient can be taken as the first coefficient.

[0083] S502: Determine the second coefficient according to the preset light intensity range in which the current light intensity is located.

[0084] The second coefficient has a preset corresponding relationship with the preset light intensity range, and a preset light intensity range with a smaller mean value corresponds to a larger second coefficient.

[0085] In some application scenarios, the second coefficient corresponding to a light intensity less than or equal to 30 lux is 90%; the second coefficient corresponding to a light intensity greater than 30 lux and less than or equal to 100 lux is 80%; the second coefficient corresponding to a light intensity greater than 100 lux and less than or equal to 300 lux is 70%; and the second coefficient corresponding to a light intensity greater than 300 lux is 50%. Of course, the setting mode of the corresponding relationship between the second coefficient and the preset light intensity range herein is only an exemplary setting mode. At this time, the second coefficient corresponding to the range greater than 30 lux and less than or equal to 100 lux is greater than the second coefficient corresponding to the range greater than 100 lux and less than or equal to 300 lux.

[0086] It should be understood that the preset light intensity range has a corresponding relationship with the first confidence coefficient in the above-described embodiments, and the preset light intensity range also has a corresponding relationship with the second coefficient in this embodiment. The two corresponding relationships can be the same or different, depending on the specific situation.

[0087] Figure 6 is a flowchart of another embodiment of the vehicle control method based on an external target object provided in the present application.

[0088] In combination Figure 6 In some specific embodiments, based on the first coefficient and the second coefficient, the step of obtaining the first confidence coefficient corresponding to the infrared detection data, i.e., the above step S402, includes:

[0089] S601: Obtain a coefficient difference value between the first coefficient and the second coefficient.

[0090] The larger coefficient can be subtracted from the smaller coefficient to obtain a positive coefficient difference value.

[0091] S602: If the coefficient difference value is less than or equal to a preset coefficient difference value, the larger one of the first coefficient and the second coefficient is taken as the first confidence coefficient corresponding to the infrared detection data; if the coefficient difference value is greater than the preset coefficient difference value, the second coefficient is taken as the first confidence coefficient.

[0092] The preset coefficient difference value is set in advance and can be set according to actual application conditions. If the coefficient difference value is less than or equal to the preset coefficient, it indicates that the difference between the first coefficient and the second coefficient is small, and the two are not much different. In order to ensure that the infrared detection parameter is utilized to a greater extent, the larger one is taken as the first confidence parameter at this time. If the coefficient difference value is greater than the preset coefficient difference value, it indicates that the first coefficient and the second coefficient are quite different, and the second coefficient corresponding to the current light intensity is preferentially taken as the first confidence coefficient to ensure that the first confidence coefficient is more in line with the actual situation.

[0093] In some specific embodiments, the non-infrared detection data includes first type detection data and second type detection data, the first type detection data and the second type detection data are respectively detected by different types of detection devices, and the different types of detection devices are all non-infrared detection devices. In combination with the above content, the detection device corresponding to the first type detection data can be a radar type detection device, and the detection device corresponding to the second type detection data can be a camera type detection device.

[0094] At this time, the step of taking the product of the non-infrared detection data and the second confidence coefficient as the second data includes: dividing the sum of the first type detection data and the second type detection data by two to obtain a quotient value, and taking the product of the quotient value and the second confidence coefficient as the second data. For example, the first type detection data is a horizontal speed of 10 m / s, and the second type detection data is a horizontal speed of 12 m / s, then 11 m / s and the second confidence coefficient are taken as the second data.

[0095] The second aspect of the present application provides a vehicle control device 20 based on an external target object, Figure 7 is a structural block diagram of an embodiment of the vehicle control device 20 based on an external target object provided by the present application.

[0096] In combination with Figure 7The vehicle control device 20 based on the out-of-vehicle target object comprises an acquisition module 21, a processing module 22 and a control module 23. The acquisition module 21 is configured to acquire current infrared detection data and non-infrared detection data of the target object. The infrared detection data is obtained by an infrared detection device and is used to obtain the current illumination intensity of the environment in which the vehicle is located. The processing module 22 is configured to obtain a first confidence coefficient corresponding to the infrared detection data based on the current illumination intensity, and to take the product of the infrared detection data and the first confidence coefficient as first data, the product of the non-infrared detection data and a second confidence coefficient as second data, and the sum of the first data and the second data as target detection data. The second confidence coefficient is 1 minus the first confidence coefficient. The control module 23 is configured to obtain the motion state and the positional relationship relative to the vehicle of the target object based on the target detection data, and to control the vehicle according to the motion state and the positional relationship. For specific execution manners of the acquisition module 21, the processing module 22 and the control module 23 to the above steps, please refer to the related contents of the above embodiments.

[0097] The third aspect of the present application provides an electronic device, comprising: a processor; a memory for storing a computer program, the computer program being executed by the processor to implement the vehicle control method in any of the above embodiments.

[0098] Figure 8 is a structural framework schematic diagram of an embodiment of the electronic device 500 provided by the present application.

[0099] In combination Figure 8 In some embodiments, the electronic device 500 comprises a central processing unit (CPU) 501 and a read-only memory (ROM) 502. The central processing unit 501 is the processor, and the read-only memory (ROM) 502 is the memory. The central processing unit 501 can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503, such as executing the method in the above embodiments. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, the ROM 502 and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0100] The following components are connected to the I / O interface 505: an input section 506 including input devices such as a keyboard and mouse; an output section 507 including output devices such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 508 including a hard disk; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, and the like. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as necessary. A removable recording medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like is attached to the drive 510 as necessary, so that a computer program read therefrom is installed into the storage section 508 as necessary.

[0101] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing computer programs for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 509, and / or installed from the removable recording medium 511. When the computer program is executed by the central processing unit (CPU) 501, various functions defined in the system of the present application are executed.

[0102] The fourth aspect of the present application provides a computer readable storage medium 40, Figure 9 is a structural framework diagram of an embodiment of the computer readable storage medium 40 provided by the present application.

[0103] The computer readable storage medium 40 stores a computer program 41, and the computer program 41 is executed by a processor to implement the vehicle control method in any of the above embodiments.

[0104] It should be noted that the computer-readable medium 40 shown in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium can be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination thereof. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus or device. In this application, the computer-readable signal medium can include a data signal that propagates in a baseband or as part of a carrier wave by any suitable medium, including but not limited to wire, cable, optical fiber, or any suitable combination thereof. The propagated data signal can take any suitable form, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium that is not a storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. The program contained in the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, or any suitable combination thereof.

[0105] In summary, based on the vehicle control method, device, electronic device and storage medium based on an external target object provided in the present application, the method comprises: acquiring current infrared detection data and non-infrared detection data of a target object; wherein the infrared detection data is obtained through an infrared detection device; acquiring the current light intensity of the environment in which the vehicle is located, and acquiring a first confidence coefficient corresponding to the infrared detection data based on the current light intensity; multiplying the infrared detection data and the first confidence coefficient to obtain first data, multiplying the non-infrared detection data and a second confidence coefficient to obtain second data, and taking the sum of the first data and the second data as target detection data; wherein the second confidence coefficient is 1 minus the first confidence coefficient; acquiring the motion state and the positional relationship with the vehicle of the target object based on the target detection data, and controlling the vehicle according to the motion state and the positional relationship. Therefore, the confidence coefficients of the infrared detection data and the non-infrared detection data are allocated based on the current light intensity, the final target detection data can be reasonably obtained through the infrared detection data and the non-infrared detection data, and the detection data of each detection device can be well utilized in combination, so that the vehicle can be well controlled based on the target detection data.

[0106] The above is only a preferred exemplary embodiment of the present application, and is not intended to limit the implementation of the present application. Those skilled in the art can easily make corresponding modifications or changes according to the main concept and spirit of the present application, and the protection scope of the present application should be subject to the protection scope required by the claims.

Claims

1. A vehicle control method based on an external target object, characterized by, The method comprises: obtaining current infrared detection data and non-infrared detection data of the target object, wherein the infrared detection data is obtained by an infrared detection device; obtaining current light intensity of an environment in which the vehicle is located, and obtaining current rainfall and current wiper position of the environment in which the vehicle is located, and obtaining a first confidence coefficient corresponding to the infrared detection data based on the current rainfall, the current wiper position, and the current light intensity; multiplying the infrared detection data by the first confidence coefficient to obtain first data, multiplying the non-infrared detection data by a second confidence coefficient to obtain second data, and adding the first data and the second data to obtain target detection data, wherein the second confidence coefficient is 1 minus the first confidence coefficient; obtaining a motion state and a positional relationship relative to the vehicle of the target object based on the target detection data, and controlling the vehicle according to the motion state and the positional relationship.

2. The vehicle control method of claim 1, wherein the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current rainfall, the current wiper position, and the current light intensity comprises: determining a preset combination corresponding to a preset rainfall range of the current rainfall and the current wiper position, and a preset light intensity range of the current light intensity, wherein the preset combination is composed of the preset rainfall range, the wiper position, and the preset light intensity range; determining the corresponding first confidence coefficient according to the preset combination and a preset relationship, wherein the corresponding relationship between the first confidence coefficient and the preset combination is the preset relationship.

3. The vehicle control method of claim 1, wherein the step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the current rainfall, the current wiper position, and the current light intensity comprises: obtaining a first coefficient based on the current rainfall and the current wiper position, and obtaining a second coefficient based on the current light intensity; obtaining the first confidence coefficient corresponding to the infrared detection data based on the first coefficient and the second coefficient.

4. The vehicle control method of claim 3, wherein the step of obtaining the first coefficient based on the current rainfall and the current wiper position, and obtaining the second coefficient based on the current light intensity comprises: determining a first sub-coefficient according to a preset rainfall range of the current rainfall, determining a second sub-coefficient according to the current wiper position, and determining the first coefficient according to the first sub-coefficient and the second sub-coefficient; determining the second coefficient according to a preset light intensity range of the current light intensity; wherein a preset rainfall range with a larger mean value corresponds to a larger first sub-coefficient, a wiper position with a higher position corresponds to a larger second sub-coefficient, and a preset light intensity range with a smaller mean value corresponds to a larger second coefficient.

5. The vehicle control method of claim 3, wherein ​ ​ ​ The step of obtaining the first confidence coefficient corresponding to the infrared detection data based on the first coefficient and the second coefficient comprises: obtaining a coefficient difference between the first coefficient and the second coefficient; if the coefficient difference is less than or equal to a preset coefficient difference, taking a larger one of the first coefficient and the second coefficient as the first confidence coefficient corresponding to the infrared detection data; if the coefficient difference is greater than the preset coefficient difference, taking the second coefficient as the first confidence coefficient.

6. The vehicle control method of claim 1, wherein the non-infrared detection data comprises first-type detection data and second-type detection data, and the first-type detection data and the second-type detection data are respectively detected by different types of detection devices; the step of taking the product of the non-infrared detection data and the second confidence coefficient as second data comprises: dividing a sum value of the first-type detection data and the second-type detection data by two to obtain a quotient value, and taking the product of the quotient value and the second confidence coefficient as second data.

7. A vehicle control device based on an external target object, characterized by, comprise: an acquisition module configured to acquire current infrared detection data and non-infrared detection data of the target object, wherein the infrared detection data is detected by an infrared detection device and is used to acquire a current light intensity of an environment in which the vehicle is located and to acquire a current rainfall and a current wiper gear position of the environment in which the vehicle is located; a processing module configured to acquire a first confidence coefficient corresponding to the infrared detection data based on the current rainfall and the current wiper gear position and the current light intensity, and to take the product of the infrared detection data and the first confidence coefficient as first data, take the product of the non-infrared detection data and a second confidence coefficient as second data, and take a sum of the first data and the second data as target detection data, wherein the second confidence coefficient is 1 minus the first confidence coefficient; a control module configured to acquire a motion state of the target object and a positional relationship relative to the vehicle based on the target detection data, and to control the vehicle according to the motion state and the positional relationship.

8. An electronic device, comprising: comprise: a processor; a memory configured to store a computer program, the computer program being executed by the processor to implement the vehicle control method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium has a computer program stored therein, and the computer program is executed by a processor to implement the vehicle control method of any one of claims 1-6.

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