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

Abstract

The invention provides a vehicle control method, which comprises the following steps of: acquiring vehicle information, namely acquiring first driving information through a vehicle camera and acquiring second driving environment information through a vehicle radar; and according to the driving road section type determined by the first driving environment information and the driving road section environment information determined by the second driving environment information, controlling the vehicle to drive. Therefore, the detection precision of whether water is accumulated on the road surface or not can be guaranteed to a certain extent. Moreover, after the driving road section environment information and the fording depth information in the driving road section environment information are determined based on the second driving environment information acquired by the vehicle radar, the vehicle driving can be controlled based on the driving road section type and the fording depth information. If water is accumulated on the road surface and the depth of the accumulated water on the road surface is higher than a certain value, the vehicle is controlled to slow down, so that the vehicle can stably run on the wading road section to a certain extent, and the safety of the vehicle and users in the vehicle can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a vehicle control method, a control device, an electronic device, a vehicle, and a computer-readable storage medium. Background Art

[0002] If there is water on the road during vehicle driving, the wheel grip may be reduced, and the wheels may slip easily, causing the vehicle to lose control. Therefore, detecting whether there is water on the road during vehicle driving, or detecting whether the current driving section of the vehicle is a wading section, has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a vehicle control method, a control device, an electronic device, a vehicle, and a computer-readable storage medium.

[0004] The present application provides a vehicle control method, including:

[0005] Acquiring vehicle information, wherein the vehicle information includes first driving environment information and second driving environment information, the first driving environment information is acquired through a vehicle camera, and the second driving environment information is acquired through a vehicle radar;

[0006] The vehicle driving is controlled according to the driving section type and driving section environment information, wherein the driving section type includes a wading section, the driving section environment information includes wading depth information, the driving section type is determined according to the first driving environment information, and the driving section environment information is determined according to the second driving environment information.

[0007] In the vehicle control method provided in the embodiment of the present application, when obtaining vehicle information, that is, when the first driving information is obtained through the vehicle camera and the second driving environment information is obtained through the vehicle radar, the vehicle driving is controlled according to the driving section type determined by the first driving environment information and in combination with the driving section environment information determined by the second driving environment information.

[0008] In this way, the embodiment of the present application determines the type of driving section based on the first driving environment information acquired by the vehicle camera, that is, determines whether the section the vehicle is currently driving on is a wading section, so that the detection accuracy of whether there is water on the road surface can be guaranteed to a certain extent. In addition, the embodiment of the present application determines the driving section environment information and the wading depth information in the driving section environment information based on the second driving environment information acquired by the vehicle radar, and can control the vehicle driving based on the driving section type and the wading depth information in the driving section environment information, such as controlling the vehicle to slow down when there is water on the road surface and the depth of the water on the road surface is higher than a certain value, so as to ensure that the vehicle can drive smoothly on the wading section to a certain extent, so that the safety of the vehicle and the users in the vehicle can be guaranteed.

[0009] In some embodiments, controlling the vehicle driving according to the driving section type and the driving section environment information includes:

[0010] When the driving section type is the wading section, the vehicle is controlled to enter a preset working mode, and the wading depth information is fed back to a target user.

[0011] In this way, the implementation method of the present application allows the vehicle to enter a preset working mode to perform corresponding operations or processing when driving on a flooded road section, thereby ensuring the safety of the vehicle and the user in the vehicle to a certain extent. At the same time, the target user can know the depth of the water outside the vehicle through the wading depth information fed back by the vehicle, and then can control the vehicle driving accordingly, thereby providing a certain auxiliary effect for the user to drive the vehicle.

[0012] In certain embodiments, the method further comprises:

[0013] When the driving section environment information corresponding to the second driving environment information is acquired, the driving section environment information is recorded.

[0014] In this way, the implementation mode of the present application records the driving section environmental information so that when the vehicle determines that the driving section type is a wading section, it can feedback the wading depth information in the driving section environmental information to the target user through the recorded driving section environmental information, thereby ensuring timely feedback of the wading depth information.

[0015] In certain embodiments, the method further comprises:

[0016] When the driving section type is the wading section, the wading depth information is determined according to the second driving environment information.

[0017] In this way, the implementation mode of the present application enables the determination of the driving section environmental information to be based on the situation that the current driving section type is a wading section, that is, the vehicle is traveling on a wading section, thereby avoiding the situation where the driving section environmental information and wading depth information still need to be determined when the vehicle is not wading, so that the determination of the driving section environmental information can be effectively or reasonably executed.

[0018] In certain embodiments, the method further comprises:

[0019] When the driving section type is the wading section and the wading depth information meets a preset condition, preset warning information is fed back to the target user.

[0020] In this way, the implementation mode of the present application is based on the feedback of the warning signal, so that the target user can know that the water in the road section where the vehicle is currently traveling is deep, so that the vehicle driving can be controlled accordingly, thereby providing certain assistance to the user in driving the vehicle.

[0021] In some embodiments, when the driving section type is the wading section, controlling the vehicle to enter a preset working mode and feeding back the wading depth information to a target user includes:

[0022] When the driving section type is determined to be the wading section based on the vehicle left side image information and the vehicle right side image information in the first driving environment information, the vehicle is controlled to enter the preset working mode, and the wading depth information is fed back to the target user.

[0023] In this way, the implementation mode of the present application enables the vehicle to determine whether the vehicle is traveling on a flooded section based on the image information on both sides of the vehicle, thereby ensuring reliable determination of the type of driving section to a certain extent.

[0024] In some embodiments, when the driving section type is the wading section, controlling the vehicle to enter a preset working mode and feeding back the wading depth information to a target user includes:

[0025] When the driving section type is determined to be the wading section based on the vehicle left side image information, the vehicle right side image information and the vehicle front side image information in the first driving environment information, the vehicle is controlled to enter the preset working mode, and the wading depth information is fed back to the target user.

[0026] In this way, the implementation mode of the present application determines whether the driving section type is a wading section based on the image information of the left side of the vehicle, the image information of the right side of the vehicle and the image information of the front side of the vehicle, thereby ensuring the reliable determination of the driving section type to a certain extent.

[0027] In certain embodiments, the method further comprises:

[0028] Based on the target detection model, the driving section type is determined according to the first driving environment information.

[0029] In this way, the implementation manner of the present application determines the driving section type based on the target detection model, so that the credibility of the determined driving section type can be guaranteed to a certain extent.

[0030] In some embodiments, the vehicle radar includes an acoustic radar; and the method further includes:

[0031] The wading depth information is determined according to the sound wave sending time and the sound wave returning time in the second driving environment information, and the propagation speed of the sound wave in the air medium.

[0032] The present application provides a control device, including:

[0033] A transceiver unit, used to obtain vehicle information, wherein the vehicle information includes first driving environment information and second driving environment information, the first driving environment information is obtained through a vehicle camera, and the second driving environment information is obtained through a vehicle radar;

[0034] A processing unit is used to control vehicle driving according to a driving section type and driving section environment information, wherein the driving section type includes a wading section, the driving section environment information includes wading depth information, the driving section type is determined according to the first driving environment information, and the driving section environment information is determined according to the second driving environment information.

[0035] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

[0036] An embodiment of the present application provides a vehicle, including a vehicle body;

[0037] The vehicle body is installed with the above-mentioned control device, or is installed with the above-mentioned electronic device.

[0038] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0039] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0041] Figure 1 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0042] Figure 2 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0043] Figure 3 A schematic diagram of application scenarios in certain embodiments of the present application;

[0044] Figure 4 A schematic diagram of application scenarios in certain embodiments of the present application;

[0045] Figure 5 A schematic diagram of a vehicle in some embodiments of the present application;

[0046] Figure 6 It is a flowchart of a vehicle control method in certain embodiments of the present application. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0048] The driving of a vehicle is affected by many factors, such as the state of the road surface on which the vehicle is driving, or the type of road section the vehicle is currently driving on. Specifically, when there is water on the road surface, or when the driving section is a wading section, the grip of the wheels will be reduced to a certain extent, increasing the probability of wheel slippage and the risk of vehicle loss of control.

[0049] Therefore, some vehicles are equipped with the function of identifying whether the current driving section is a flooded section, and the function of controlling the vehicle's driving when the current driving section is a flooded section, or the function of assisting the driver in driving the vehicle. For example, when the current driving section is a flooded section, the maximum speed of the vehicle is limited to avoid the vehicle losing control due to excessive speed and weak wheel grip.

[0050] Among them, in order to detect whether the current driving section of the vehicle is a wading section, an ultrasonic radar is usually installed on the vehicle to achieve this. That is, according to the signal sent by the ultrasonic radar, the object outside the vehicle is determined, and then it is determined whether the vehicle is driving on a wading section.

[0051] However, compared to other non-air media, the acoustic impedance of air is lower. As a result, when detecting objects outside the vehicle through the information transmitted by the ultrasonic radar, it is usually impossible to identify the specific category of the objects outside the vehicle. Therefore, when using the ultrasonic radar to identify whether a road section is a wading section, the information transmitted by the ultrasonic radar can only be used to determine the height of objects outside the vehicle. For example, when the ultrasonic radar is installed on the exterior rearview mirror, based on the information transmitted by the ultrasonic radar, the distance between the rearview mirror and the object directly below the rearview mirror, such as the distance between the rearview mirror and the water surface, can be detected.

[0052] Therefore, when ultrasonic radar is used to detect whether a road section is a flooded section, misjudgment or false alarm is very likely to occur. For example, when a vehicle is driving on a bushy road, the vehicle may identify bushes and other plants as water based on the information transmitted by the ultrasonic radar, and then mistakenly determine that the vehicle is driving on a flooded section, making it difficult to guarantee the credibility of the road section identification results.

[0053] Based on the above problems you may encounter, please refer to Figure 1 , the embodiment of the present application provides a vehicle control method, comprising:

[0054] 01: Acquire vehicle information, wherein the vehicle information includes first driving environment information and second driving environment information, the first driving environment information is acquired through a vehicle camera, and the second driving environment information is acquired through a vehicle radar;

[0055] 02: Controlling vehicle driving according to the driving section type and driving section environment information, wherein the driving section type includes a wading section, the driving section environment information includes wading depth information, the driving section type is determined according to the first driving environment information, and the driving section environment information is determined according to the second driving environment information.

[0056] The embodiment of the present application provides a control device. The control method of the vehicle of the embodiment of the present application can be implemented by the control device of the embodiment of the present application. Specifically, the control includes a transceiver unit and a processing unit. The transceiver unit is used to obtain vehicle information, wherein the vehicle information includes first driving environment information and second driving environment information, the first driving information is obtained by the vehicle camera, and the second driving environment information is obtained by the vehicle radar. The processing unit is used to control the vehicle driving according to the driving section type and the driving section environment information, wherein the driving section type includes a wading section, the driving section environment information includes wading depth information, the driving section type is determined according to the first driving environment information, and the driving section environment information is determined according to the second driving environment information.

[0057] The embodiment of the present application also provides an electronic device, which includes a memory and a processor. The control method of the vehicle of the embodiment of the present application can be implemented by the electronic device of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to obtain vehicle information, wherein the vehicle information includes first driving environment information and second driving environment information, the first driving information is obtained through the vehicle camera, and the second driving environment information is obtained through the vehicle radar; the vehicle driving is controlled according to the driving section type and the driving section environment information, wherein the driving section type includes a wading section, the driving section environment information includes wading depth information, the driving section type is determined according to the first driving environment information, and the driving section environment information is determined according to the second driving environment information.

[0058] That is, the vehicle of the embodiment of the present application is equipped with a camera and a radar, and then the vehicle (or the controller in the vehicle) can obtain information such as the image outside the vehicle through the vehicle camera, that is, the first driving environment information, and obtain information such as the position of the object outside the vehicle through the vehicle radar, that is, the second driving environment information. In the case of obtaining the first driving environment information and the second driving environment information, the vehicle is controlled to travel based on the driving section type determined by the first driving environment information and the driving section environment information determined by the second driving environment information, or in other words, based on the first driving environment information, it is determined whether the current driving section of the vehicle is a wading section, and based on the position of the object outside the vehicle determined by the second driving environment information. For example, when it is determined that the driving section type is a wading section based on the driving section type and the driving section environment information, and the driving section environment information indicates the height of the object outside the vehicle, or in other words, when the height of the water surface outside the vehicle is higher than a certain value, the vehicle is controlled to slow down, or the maximum driving speed of the vehicle is limited.

[0059] Among them, the implementation mode of the present application will determine the type of driving section through the first driving environment information collected or obtained by the camera. Compared with the method of detecting whether the vehicle is driving on a wading section through ultrasonic radar or other sound wave radars, the first driving environment information collected or obtained by the camera can more intuitively show whether the vehicle is wading. Therefore, the credibility of the driving section type determined by the first driving environment information is higher.

[0060] It can be understood that the first driving environment information of the implementation mode of the present application is obtained based on the vehicle camera, and the first driving environment information includes but is not limited to the image outside the vehicle.

[0061] Furthermore, the vehicle camera of the embodiment of the present application can be installed on the inside of the vehicle or on the outside of the vehicle. However, it should be noted that since the first driving environment information of the embodiment of the present application needs to be used to determine the type of the driving section, that is, the first driving environment information needs to be used to detect the type of objects outside the vehicle, the vehicle camera of the embodiment of the present application can capture objects outside the vehicle or directly below the vehicle.

[0062] It can also be understood that the second driving environment information of the embodiment of the present application is obtained based on the vehicle radar, and the second driving environment information can be understood as the time when the vehicle radar sends the sound wave or laser, and the time when the sound wave or laser contacts an object outside the vehicle and is transmitted back to the vehicle radar. It can also be understood as the waveform, distance change rate (radial velocity), direction, altitude and other information of the sound wave and echo sent by the vehicle radar.

[0063] In addition, the installation position of the vehicle radar in the implementation mode of the present application can be set according to actual conditions, but it should be noted that the second driving environment information collected by the vehicle radar in the implementation mode of the present application can be used to determine the height of the water surface outside the vehicle, that is, the wading depth information. Therefore, the vehicle radar in the implementation mode of the present application can send sound waves or lasers to the outside of the vehicle or directly below the vehicle.

[0064] It should be understood that the determination of the driving section type and the determination of the driving section environment information in the implementation mode of the present application can be completed by the vehicle (or the controller in the vehicle) or by other computing devices outside the vehicle. Specifically, in the case where the driving section type and the driving section environment information are determined by the vehicle, after the vehicle obtains the first and second driving environment information, it can determine the driving section type corresponding to the first driving environment information and determine the driving section environment information corresponding to the second driving environment information through a pre-stored program or software.

[0065] In the case where the driving section type and driving section environment information are determined by other computing devices outside the vehicle (such as a cloud server), taking the cloud server as an example, after the vehicle obtains the first and second driving environment information, the first and second driving environment information can be sent to the cloud server, so that the cloud server can determine the driving section type corresponding to the first driving environment information and the driving section environment information corresponding to the second driving environment information according to a pre-stored program, and then send the driving section type and driving section environment information to the vehicle.

[0066] Furthermore, it should be noted that when determining the driving section environment information based on the second driving environment information, since most radar signals, such as the ultrasonic signals of ultrasonic radars, cannot distinguish the types of detected objects, and therefore, if the vehicle's driving section type is not a wading section, the wading depth information in the driving section environment information will indicate that the depth of the water surface outside the vehicle is 0.

[0067] Furthermore, it should be noted that the specific process of determining the driving section environment information according to the second driving environment information and the specific process of determining the driving section type according to the first driving environment information are both contents that can be set according to actual conditions. For example, in some embodiments, the process of determining the driving section type according to the first driving environment information may include: when the first driving environment information is an image outside the vehicle, the first driving environment information is input into a support vector machine based on pre-training for detecting whether there is a water body in the image, so as to detect whether the first driving environment information includes a water body through the support vector machine, and if so, the driving section type is a wading section, and if not, the driving section type is not a wading section.

[0068] For another example, in certain embodiments, the process of determining the driving section environment information according to the second driving environment information may include: when the vehicle radar is installed on the exterior rearview mirror, the vehicle radar is used to send a laser directly below the exterior rearview mirror, and the second driving environment information includes the laser beam sending time and the laser beam return time, the height of the obstacle outside the vehicle is determined according to the laser beam sending time and the laser beam return time, and the propagation speed of the laser beam in the air. At the same time, if the vehicle driving section type is a wading section, the height of the obstacle outside the vehicle can be regarded as the wading depth information.

[0069] In summary, the implementation method of the present application determines the type of driving section based on the first driving environment information obtained by the vehicle camera, that is, determines whether the section the vehicle is currently driving on is a wading section, so that the detection accuracy of whether there is water on the road surface can be guaranteed to a certain extent. In addition, the implementation method of the present application determines the driving section environment information and the wading depth information in the driving section environment information based on the second driving environment information obtained by the vehicle radar, and can control the vehicle driving based on the driving section type and the wading depth information in the driving section environment information, such as controlling the vehicle to slow down when there is water on the road and the depth of the water on the road is higher than a certain value, so as to ensure that the vehicle can drive smoothly on the wading section to a certain extent, so that the safety of the vehicle and the users in the vehicle can be guaranteed.

[0070] In certain embodiments of this application, please refer to Figure 2 , step 02 includes:

[0071] 020: When the driving section type is a wading section, control the vehicle to enter a preset working mode, and feedback wading depth information to the target user. The processing unit of the embodiment of the present application is also used for controlling the vehicle to enter a preset working mode and feedback wading depth information to the target user when the driving section type is a wading section.

[0072] The processor of the implementation mode of the present application is also used to control the vehicle to enter a preset working mode and to feedback wading depth information to the target user when the driving section type is a wading section.

[0073] That is, when the vehicle of the implementation mode of the present application determines that it is currently driving on a flooded road, or in other words, when it determines that the current driving section is a wading section, it can enter a preset working mode and feedback wading depth information to the user so that the user knows the water surface depth or water surface height.

[0074] To more clearly illustrate the implementation of this application, please refer to Figure 3 and Figure 4 , Figure 3 and Figure 4 are schematic diagrams of application scenarios in certain embodiments of the present application. Figure 3 In the situation shown, after the first controller 101 in the vehicle obtains the first driving environment information collected by the first camera 102 and the second driving environment information collected by the first radar 103, if it is determined based on the first driving environment information that the road section 104 on which the vehicle is traveling is not a wading section, the first controller 101 does not perform any operation.

[0075] In contrast, Figure 4In the illustrated situation, after the first controller 101 determines the type of the driving section according to the first driving environment information, it determines that there is water on the section 104, that is, the section 104 is a wading section, and then controls the vehicle to enter the preset mode. At the same time, after the driving section environment information is determined according to the second driving environment information, according to the wading depth information in the driving section environment information, that is, the position or height of the water surface 105, the first controller 101 feeds back the wading depth information to the user.

[0076] In addition, it should be noted that Figure 3 and Figure 4 The arrow in the figure indicates the direction of the vehicle's travel.

[0077] It is understandable that the preset working mode of the implementation mode of the present application is content that can be set according to actual conditions. For example, some vehicles are equipped with a "wading function" to limit one or more combinations of operating parameters such as the maximum vehicle speed, maximum wheel speed, upper limit of braking torque, maximum tire steering angle, etc. when the vehicle is traveling on a wading section, so that the vehicle can travel smoothly in the wading section. Therefore, in some implementation modes of the present application, when the vehicle determines that the current driving section is a wading section, the vehicle is controlled to enter the wading mode and the wading depth information is fed back to the user.

[0078] In other embodiments, because some vehicles have two activation modes for the "wading function", one is the "user-active activation mode" and the other is the "vehicle-active activation mode". In the "user-active activation mode", the vehicle's "wading function" is only activated when the user triggers the corresponding command (such as clicking a preset button displayed on the display screen in the car, or pressing a specific physical button in the car). In the "user-active activation mode", whether the "wading function" is turned on or not will be determined by the vehicle itself. For example, when there is a large area of ​​water or accumulated water in front of the vehicle, the vehicle automatically turns on the "wading function". Furthermore, the vehicle of the implementation mode of the present application can control the vehicle to switch from the "user-active activation mode" to the "vehicle-active activation mode" when the current driving section is a wading section, that is, enter the preset working mode, and at the same time, feedback the wading depth information to the user.

[0079] Furthermore, after the vehicle switches from "user-active start-up mode" to "vehicle-active start-up mode", because the vehicle can automatically turn on the "wading function", it can effectively prevent the user or driver from forgetting to turn on the "wading function" while controlling the vehicle.

[0080] In this way, the implementation method of the present application allows the vehicle to enter a preset working mode to perform corresponding operations or processing when driving on a flooded road section, thereby ensuring the safety of the vehicle and the user in the vehicle to a certain extent. At the same time, the target user can know the depth of the water outside the vehicle through the wading depth information fed back by the vehicle, and then can control the vehicle driving accordingly, thereby providing a certain auxiliary effect for the user to drive the vehicle.

[0081] In addition, it should be noted that in the implementation of the present application, the specific method of feeding back the wading depth information to the target user, that is, feeding back the depth of the water in the current road section to the driver or all users in the car, can be set according to the actual situation. For example, in some implementations, the display screen or tablet computer in the car will display the wading depth information so that the user can intuitively know the depth of the water. Among them, the display screen in the car can be understood as a head-up display (Head Up Display, HUD).

[0082] In certain embodiments of the present application, the control method further includes:

[0083] When the driving section environment information corresponding to the second driving environment information is acquired, the driving section environment information is recorded.

[0084] The processing unit of the implementation mode of the present application is also used to record the driving section environment information when the driving section environment information corresponding to the second driving environment information is acquired.

[0085] The processor of the embodiment of the present application is also used to record the driving section environment information when the driving section environment information corresponding to the second driving environment information is acquired.

[0086] That is, every time the vehicle of the embodiment of the present application acquires or collects the second driving environment information through the vehicle radar and obtains the wading depth information corresponding to the second driving environment information, the vehicle records or saves the wading depth information into a preset storage space.

[0087] It should be understood that when a vehicle detects the height or depth of an object (such as water, shrubs, and mud) on the road through radar, it is usually unable to distinguish the specific category of the object. Therefore, when the driving section environment information is obtained through the second driving environment information, the driving section environment information may represent the accumulated water or water on the road, or it may represent other objects on the road such as shrubs or mud. Therefore, before determining or obtaining the driving section type, the specific meaning of the driving section environment information may be difficult to determine.

[0088] Furthermore, since the driving section environment information may represent the accumulation of water or water bodies on the road, the vehicle of the embodiment of the present application records or stores the driving section environment information each time it is obtained in order to avoid the situation where valid information is discarded. Thus, in the case where the driving section type is a wading section, the vehicle can feedback the wading depth information in the driving section environment information to the target user through the recorded driving section environment information.

[0089] In this way, the implementation mode of the present application records the driving section environmental information so that when the vehicle determines that the driving section type is a wading section, it can feedback the wading depth information in the driving section environmental information to the target user through the recorded driving section environmental information, thereby ensuring timely feedback of the wading depth information.

[0090] In addition, it can be understood that the driving section environment information and the driving section environment information in the implementation mode of the present application can be related or synchronized in time sequence, or the first driving environment information and the second driving environment information are collected synchronously, such as the vehicle camera and the vehicle radar both collect corresponding information every 1 minute, and then, when the driving section type determined by the first driving environment information is a wading section, the driving section environment information determined by the corresponding second driving environment information needs to be fed back.

[0091] For example, assume that the vehicle camera and the vehicle radar have collected corresponding information once at 10:00, 10:02, and 10:04. And, after the vehicle has determined and recorded the driving section environment information at three time points according to the second driving environment information at 10:00, the second driving environment information at 10:02, and the second driving environment information at 10:04, respectively. If the vehicle determines that the driving section type is a wading section according to the first driving environment information at 10:02, the vehicle can feedback the wading depth information in the driving section environment information at 10:02 and / or 10:04.

[0092] In certain embodiments of the present application, the control method further includes:

[0093] When the driving section environment information corresponding to the second driving environment information is acquired, the driving section environment information is recorded.

[0094] The processing unit in the implementation manner of the present application is also used to determine the wading depth information according to the second driving environment information when the driving section type is a wading section.

[0095] The processor of the implementation manner of the present application is also used to determine the wading depth information according to the second driving environment information when the driving section type is a wading section.

[0096] That is, the vehicle of the implementation mode of the present application will determine that the object outside the vehicle is a water body, or in other words, determine that the current driving section type is a wading section, and then determine the driving section environment information based on the second driving environment information, so that the wading depth information in the determined driving section environment information can be fed back to the target user.

[0097] It is understandable that the implementation method of the present application can be to feed back wading depth information to the target user after determining that the current driving section type is a wading section based on the driving section environment information determined by the latest acquired second driving environment information. For example, if it is determined at 14:00 that the current driving section type is a wading section, then the corresponding driving section environment information is determined based on the second driving environment information acquired at and after 14:00.

[0098] In this way, the implementation mode of the present application enables the determination of the driving section environmental information to be based on the situation that the current driving section type is a wading section, that is, the vehicle is traveling on a wading section, thereby avoiding the situation where the driving section environmental information and wading depth information still need to be determined when the vehicle is not wading, so that the determination of the driving section environmental information can be effectively or reasonably executed.

[0099] In certain embodiments of the present application, the control method further includes:

[0100] When the driving section type is a wading section and the wading depth information meets the preset conditions, the preset warning information is fed back to the target user.

[0101] The processing unit in the implementation mode of the present application is also used to feedback preset warning information to the target user when the driving section type is a wading section and the wading depth information meets the preset conditions.

[0102] The processor of the implementation mode of the present application is also used to feedback preset warning information to the target user when the driving section type is a wading section and the wading depth information meets the preset conditions.

[0103] That is, when the vehicle of the implementation mode of the present application is driving on a flooded section and the water depth on the road is high, or in other words, when the driving section type is a flooded section and the water depth information meets the preset conditions, it will determine that it is in a more dangerous section, and then, feedback the preset warning information to the target user to warn the user that the current driving section of the vehicle is more dangerous and needs to be driven with caution.

[0104] It is understandable that the wading depth information in the implementation manner of the present application can be understood as the height of the water surface in the road, or the distance between the water surface and the vehicle radar. The preset conditions are the content that can be set according to the actual situation. For example, in some implementations of the present application, when the water surface height on the road continues to be higher than the preset value for a period of time, it indicates that "the wading depth information meets the preset conditions." In other implementations, when the water surface height on the road is higher than a certain value (such as the distance between the tire contact point and the door handle), it indicates that "the wading depth information meets the preset conditions."

[0105] It can also be understood that the feedback of the warning information of the implementation mode of the present application can also be set according to actual conditions. The alarm information can be displayed on the vehicle display screen (or head-up display screen), or played through the vehicle's sound playback unit, or displayed on the display screen and played through the sound playback unit at the same time.

[0106] And, it can be understood that the specific content of the warning message can also be set according to the actual situation. For example, in some embodiments, the warning message is text and / or voice of "The road is flooded, please drive carefully!"

[0107] In this way, the implementation mode of the present application is based on the feedback of the warning signal, so that the target user can know that the water in the road section where the vehicle is currently traveling is deep, so that the vehicle driving can be controlled accordingly, thereby providing certain assistance to the user in driving the vehicle.

[0108] In some embodiments of the present application, step 020 includes:

[0109] When it is determined that the driving section type is a wading section based on the vehicle left side image information and the vehicle right side image information in the first driving environment information, the vehicle is controlled to enter a preset working mode and the wading depth information is fed back to the target user.

[0110] The processing unit in the implementation mode of the present application is also used to control the vehicle to enter a preset working mode and to feedback the wading depth information to the target user when it is determined that the driving section type is a wading section based on the vehicle left side image information and the vehicle right side image information in the first driving environment information.

[0111] The processor of the implementation mode of the present application is also used to control the vehicle to enter a preset working mode and to feedback the wading depth information to the target user when it is determined that the driving section type is a wading section based on the vehicle left side image information and the vehicle right side image information in the first driving environment information.

[0112] That is, in order to avoid the situation where the vehicle in the embodiment of the present application mistakenly determines that the vehicle is traveling on a flooded section after identifying water accumulation beside the road or on one side of the road, the vehicle in the embodiment of the present application is equipped with multiple cameras, or in other words, the vehicle camera in the embodiment of the present application can capture images or image information on both sides of the vehicle. Then, based on the image information on both sides of the vehicle, it is determined whether the vehicle is traveling on a flooded section.

[0113] It can be understood that if only one side of the picture or the first driving environment information on one side represents the vehicle wading, it may be that one side of the vehicle is driving on the wading section, but the entire vehicle is not driving on the wading section. It may also be that the one-side picture or the one-side image information does not represent the current driving section (such as paddy fields outside a rural road).

[0114] To more clearly illustrate the implementation of this application, please refer to Figure 5 , Figure 5 Schematic diagram of a vehicle in some embodiments of the present application. That is, the first controller 101 in the vehicle in the embodiment of the present application can determine whether the right side of the vehicle is wading according to the first driving environment information collected by the first camera 103, and at the same time, the second controller 108 determines whether the left side of the vehicle is wading according to the second driving environment information collected by the second camera 106. Subsequently, if both the left and right sides of the vehicle are wading, it is determined that the vehicle is traveling on a wading section, that is, if the driving section type is determined to be a wading section according to the image information on the left side of the vehicle and the image information on the right side of the vehicle.

[0115] In this way, the implementation mode of the present application enables the vehicle to determine whether the vehicle is traveling on a flooded section based on the image information on both sides of the vehicle, thereby ensuring reliable determination of the type of driving section to a certain extent.

[0116] Furthermore, it is understandable that Figure 5 Four controllers are shown, namely, a first controller 101, a second controller 108, a third controller 109 and a fourth controller 110. The first to fourth controllers can control different electrical devices in the vehicle respectively. Optionally, because the computing power and data processing efficiency of the domain controller are relatively high, the first to fourth controllers in some embodiments are all domain controllers, wherein the first controller can be a left domain controller, the second controller can be a right domain controller, the third controller can be a front domain controller, and the fourth controller can be a rear domain controller.

[0117] In addition, it is conceivable that the embodiments of the present application may also use only one controller to complete the control of most of the devices in the vehicle. For example, the vehicle may be equipped with a central computing unit, and each camera and radar of the vehicle may be connected to the central computing unit, so that the central computing unit completes the determination of the above-mentioned driving section type and driving section environment information.

[0118] In some embodiments of the present application, step 020 includes:

[0119] When the driving section type is determined to be a wading section based on the vehicle left side image information, the vehicle right side image information and the vehicle front side image information in the first driving environment information, the vehicle is controlled to enter a preset working mode and the wading depth information is fed back to the target user.

[0120] The processing unit in the implementation mode of the present application is also used to control the vehicle to enter a preset working mode and to feedback the wading depth information to the target user when it is determined that the driving section type is a wading section based on the vehicle left side image information, the vehicle right side image information and the vehicle front side image information in the first driving environment information.

[0121] The processor of the implementation mode of the present application is also used to control the vehicle to enter a preset working mode and to feedback the wading depth information to the target user when it is determined that the driving section type is a wading section based on the vehicle left side image information, the vehicle right side image information and the vehicle front side image information in the first driving environment information.

[0122] That is, the vehicle in the embodiment of the present application will determine whether there is water accumulation or wading on the front side (or the actual forward direction of the vehicle), the left side and the right side of the vehicle based on the images or pictures of the front side, left side and right side of the vehicle. If there is water wading, it is determined that the whole vehicle is driving on a wading section.

[0123] It is understandable that the vehicle front image information can be used to indicate whether the road surface in the actual direction of the vehicle is flooded or whether there is water accumulation.

[0124] In this way, the implementation mode of the present application determines whether the driving section type is a wading section based on the image information of the left side of the vehicle, the image information of the right side of the vehicle and the image information of the front side of the vehicle, thereby ensuring the reliable determination of the driving section type to a certain extent.

[0125] In certain embodiments of the present application, the control method further includes:

[0126] Based on the target detection model, a driving section type is determined according to the first driving environment information.

[0127] The processing unit in the implementation mode of the present application is also used to determine the driving section type based on the target detection model and the first driving environment information.

[0128] The processor of the implementation mode of the present application is also used to determine the driving section type based on the target detection model and the first driving environment information.

[0129] That is, the vehicle (or the controller in the vehicle) of the embodiment of the present application is equipped with a target detection model that can be used to detect whether an object is water. Furthermore, after the vehicle of the embodiment of the present application acquires an image or video (i.e., the first driving environment information) through a camera, it uses the target detection model to perform target detection on the image or video to detect whether there is water in the image or video, thereby determining the type of the driving section.

[0130] It can be understood that the method of determining the type of driving section based on the neural network model can ensure that the type of driving section is effectively determined or accurately determined to a certain extent.

[0131] It can also be understood that the target detection model in the implementation manner of the present application is content that can be set according to actual conditions. For example, in some implementation manners, the target detection model is a YOLO (You Only Look Once) model.

[0132] In this way, the implementation manner of the present application determines the driving section type based on the target detection model, so that the credibility of the determined driving section type can be guaranteed to a certain extent.

[0133] In some embodiments of the present application, the vehicle radar includes an acoustic radar. The control method further includes:

[0134] The wading depth information is determined according to the sound wave sending time and the sound wave returning time in the second driving environment information, and the propagation speed of the sound wave in the air medium.

[0135] The processing unit in the embodiment of the present application is also used to determine the wading depth information based on the sound wave sending time and the sound wave returning time in the second driving environment information, and the propagation speed of the sound wave in the air medium.

[0136] The processor of the implementation mode of the present application is also used to determine the wading depth information based on the sound wave sending time and the sound wave returning time in the second driving environment information, and the propagation speed of the sound wave in the air medium.

[0137] That is, the implementation mode of the present application will determine the height of the water surface outside the vehicle based on the principle of acoustic wave ranging, that is, the determination of the wading depth information.

[0138] For example, see Figure 4 , assuming that the radar 103 is an acoustic wave radar, the radar 103 sends a sound wave signal downward once and receives a corresponding echo signal. The first controller 101 can calculate the height of the water surface outside the vehicle according to the time when the radar 103 sends the sound wave (corresponding to the sound wave sending time) and the receiving time of the echo signal (corresponding to the sound wave return time), combined with the propagation speed of the sound wave in the air medium, and thus obtain the wading depth information.

[0139] To more clearly illustrate the implementation of the present application, please refer to the following formula, namely:

[0140] d=0.5*C*t*cosθ

[0141] Where d represents the height of the water surface, C represents the propagation speed of sound waves in the air medium, t represents the time difference between the sound wave sending time and the sound wave returning time, and θ represents the inclination angle formed between the horizontal plane and the transmitting head of the acoustic radar during the driving process of the vehicle. This inclination angle can be measured by sensors on the vehicle body (such as an inertial measurement unit).

[0142] In certain embodiments of this application, please refer to Figure 6 , Figure 6 It is a flowchart of a vehicle control method in certain embodiments of the present application.

[0143] That is, after the camera of the embodiment of the present application collects the image information, i.e., the first driving environment information, it sends the first driving environment information to the deserializer based on the FPD LINK interface, or in other words, the video serial communication (Flat Panel Display Link), and the deserializer deserializes the received first driving environment information, and then sends the deserialized first driving environment information to the first controller. Optionally, the deserializer can send the deserialized first driving environment information to the first controller based on the MIPI (Mobile Industry Processor Interface) protocol.

[0144] The first controller receives the (deserialized) first driving environment information and sends it to the first controller, calls the pre-trained YOLO model, that is, the target detection model, to identify the first driving environment information to detect whether there is water in the first driving environment information.

[0145] If the first controller determines that the vehicle is not traveling on a wading section according to the feedback result of the YOLO model, the current operation and subsequent operations are terminated, and the deserializer is waited for to transmit new first driving environment information.

[0146] If the first controller determines that the vehicle is traveling on a wading section according to the feedback result of the YOLO model, the first controller sends a command to the ultrasonic radar (corresponding to the vehicle radar) to make the ultrasonic radar send signals and receive echo signals, and process the received echo signals. After the processing is completed, the corresponding information (sound wave sending time and sound wave return time) is sent to the first controller.

[0147] The first controller determines the wading depth information and the driving section environment information according to the received sound wave sending time and the sound wave returning time, and the pre-stored sound wave propagation speed in the air.

[0148] Finally, the first controller displays the image outside the vehicle (determined based on the first driving environment information), controls the vehicle to enter a preset mode, and feeds back an alarm warning message to the target user based on the actual situation (i.e., whether the wading depth information meets the preset conditions).

[0149] The embodiment of the present application further provides a vehicle, including a vehicle body, on which the control device or the electronic device is installed.

[0150] The embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0151] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0152] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0153] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: include: Acquiring vehicle information, wherein the vehicle information includes first driving environment information and second driving environment information, the first driving environment information is acquired through a vehicle camera, and the second driving environment information is acquired through a vehicle radar; The vehicle driving is controlled according to the driving section type and driving section environment information, wherein the driving section type includes a wading section, the driving section environment information includes wading depth information, the driving section type is determined according to the first driving environment information, and the driving section environment information is determined according to the second driving environment information.

2. The method according to claim 1, characterized in that The controlling of vehicle driving according to the driving section type and driving section environment information includes: When the driving section type is the wading section, the vehicle is controlled to enter a preset working mode, and the wading depth information is fed back to a target user.

3. The method according to claim 2, characterized in that The method further comprises: When the driving section environment information corresponding to the second driving environment information is acquired, the driving section environment information is recorded.

4. The method according to claim 2, characterized in that: The method further comprises: When the driving section type is the wading section, the wading depth information is determined according to the second driving environment information.

5. The method according to claim 2, characterized in that: The method further comprises: When the driving section type is the wading section and the wading depth information meets a preset condition, preset warning information is fed back to the target user.

6. The method according to claim 2, characterized in that When the driving section type is the wading section, controlling the vehicle to enter a preset working mode and feeding back the wading depth information to a target user includes: When the driving section type is determined to be the wading section based on the vehicle left side image information and the vehicle right side image information in the first driving environment information, the vehicle is controlled to enter the preset working mode, and the wading depth information is fed back to the target user.

7. The method according to claim 2, characterized in that When the driving section type is the wading section, controlling the vehicle to enter a preset working mode and feeding back the wading depth information to a target user includes: When the driving section type is determined to be the wading section based on the vehicle left side image information, the vehicle right side image information and the vehicle front side image information in the first driving environment information, the vehicle is controlled to enter the preset working mode, and the wading depth information is fed back to the target user.

8. The method according to claim 1, characterized in that The method further comprises: Based on the target detection model, the driving section type is determined according to the first driving environment information.

9. The method according to claim 1, characterized in that: The vehicle radar includes a sonic radar; the method further includes: The wading depth information is determined according to the sound wave sending time and the sound wave returning time in the second driving environment information, and the propagation speed of the sound wave in the air medium.

10. A control device, characterized in that: include: A transceiver unit, used to obtain vehicle information, wherein the vehicle information includes first driving environment information and second driving environment information, the first driving environment information is obtained through a vehicle camera, and the second driving environment information is obtained through a vehicle radar; A processing unit is used to control vehicle driving according to a driving section type and driving section environment information, wherein the driving section type includes a wading section, the driving section environment information includes wading depth information, the driving section type is determined according to the first driving environment information, and the driving section environment information is determined according to the second driving environment information.

11. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 9 is implemented.

12. A vehicle, characterized in that: Including the body; The vehicle body is installed with the control device according to claim 10, or is installed with the electronic device according to claim 11.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 9 is implemented.

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