Vehicle control method and device and vehicle

Abstract

The invention discloses a vehicle control method and device and a vehicle, and belongs to the technical field of vehicles. Comprising the steps that the temperatures of a preset part of a first vehicle at multiple moments and the stoplight state of the first vehicle are detected, and the first vehicle is a vehicle in front of a second vehicle; based on the temperatures of the preset part at the multiple moments and the stoplight state, the start-stop state of the first vehicle is determined; and under the condition that the starting and stopping state of the first vehicle is the initial starting state or the initial stopping state, the second vehicle is controlled to output braking force and / or steer in the direction away from the first vehicle. According to the method, the start-stop state of the first vehicle can be accurately determined based on the temperatures of the preset component at the multiple moments and the stoplight state of the first vehicle, and when the start-stop state of the first vehicle is just started or just stopped subsequently, the second vehicle can be controlled to execute the corresponding action, so that the collision risk between the two vehicles is avoided, and the safety of the vehicle is improved. Therefore, the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device and vehicle. Background Art

[0002] At present, there are more and more vehicles on the road, and the road environment when driving the vehicle is becoming more and more complex. When driving a vehicle in a complex road environment, it is easy to cause the driver to be nervous, which is not conducive to safe driving.

[0003] For example, during the driving process, the vehicle in front may stop at any time, and there may even be a possibility that the passengers in the car get off, or there may be a vehicle that has just started and needs to enter the road. In these scenarios, if the driver cannot detect the risk of the passengers getting off or the vehicle entering the road in advance, there may be a risk of collision or emergency avoidance. In these scenarios, the driver needs to concentrate highly, which will cause the driver to be nervous in the long run, which is not conducive to driving safety. Therefore, there is an urgent need for a vehicle control method that improves driver safety in these complex road scenarios. Summary of the invention

[0004] The present application provides a vehicle control method, device, vehicle and storage medium, which can automatically control the vehicle to output braking force and / or turn away from the vehicle in front when the vehicle in front has just started or just stopped, so as to assist the driver to identify the possible collision risk between the vehicle in front and the vehicle in advance, and then avoid the collision between the vehicle in front and the vehicle through corresponding control, thereby improving driving safety. The technical solution includes the following contents.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] detecting a temperature of a preset component of a first vehicle at a plurality of times and a brake light state of the first vehicle, the first vehicle being a vehicle in front of the second vehicle;

[0007] determining a start / stop state of the first vehicle based on the temperature of the preset component at the plurality of times and the state of the brake light;

[0008] When the start / stop state of the first vehicle is an initial start state or an initial stop state, the second vehicle is controlled to output a braking force and / or turn in a direction away from the first vehicle.

[0009] In the present application, the temperature of the preset components of the first vehicle at multiple times and the brake light state of the first vehicle are first detected, and then the start-stop state of the first vehicle is determined based on the detected temperature of the preset components at multiple times and the brake light state of the first vehicle. When the start-stop state of the first vehicle is the initial start state or the initial stop state, the second vehicle is controlled to output braking force and / or turn in a direction away from the first vehicle. Because the temperature of some components of the vehicle will change when it is just started or just stopped, such as the engine temperature. In addition, when the first vehicle is just started, there is a risk of collision with the first vehicle when the first vehicle enters the road, and when the first vehicle is just stopped, there is a risk of collision with the first vehicle when the passengers in the vehicle get off. Therefore, the present application can accurately determine the start-stop state of the first vehicle based on the temperature of the preset components at multiple times and the brake light state of the first vehicle. Later, when the start-stop state of the first vehicle is just started or just stopped, the second vehicle can be controlled to perform corresponding actions to avoid the risk of collision between the two vehicles, thereby improving driving safety.

[0010] Optionally, determining the start / stop state of the first vehicle based on the temperature of the preset component at the multiple moments and the state of the brake light includes:

[0011] Determining a temperature trend of the preset component at multiple moments based on the temperature of the preset component at the multiple moments;

[0012] Based on the temperature trend of the preset component at multiple times and the brake light status, the start / stop status of the first vehicle is determined.

[0013] Optionally, determining the start / stop state of the first vehicle based on the temperature trend of the preset component at multiple times and the brake light state includes:

[0014] When the brake light state is on and the temperature trend of the preset component at multiple moments is an upward trend, determining that the start-stop state of the first vehicle is an initial start state;

[0015] When the brake light state is in the on state and the temperature trend of the preset component at multiple moments is a downward trend, it is determined that the start-stop state of the first vehicle is an initial parking state.

[0016] Optionally, the method further comprises:

[0017] When the start-stop state of the first vehicle is an initial parking state, detecting whether a door of the first vehicle is opened;

[0018] Optionally, controlling the second vehicle to output a braking force and / or turn in a direction away from the first vehicle includes:

[0019] When the door of the first vehicle is opened, the second vehicle is controlled to output a braking force and / or to turn away from the first vehicle.

[0020] Optionally, when the start-stop state of the first vehicle is an initial start state or an initial stop state, controlling the second vehicle to output a braking force and / or turn in a direction away from the first vehicle includes:

[0021] When the start / stop state of the first vehicle is the initial start state or the initial stop state, acquiring environmental information of the current position of the second vehicle;

[0022] Determining the road condition at the location of the second vehicle based on the environmental information;

[0023] When the road condition at the location of the second vehicle is a dense traffic section, controlling the second vehicle to output a braking force or controlling the second vehicle to output a braking force and turn in a direction away from the first vehicle;

[0024] When the road condition at the location of the second vehicle is a sparse traffic section, the second vehicle is controlled to turn in a direction away from the first vehicle.

[0025] Optionally, controlling the second vehicle to output a braking force includes:

[0026] obtaining a longitudinal distance between the first vehicle and the second vehicle;

[0027] When the longitudinal distance is greater than or equal to a preset distance threshold, controlling the second vehicle to output a first braking force;

[0028] When the longitudinal distance is less than the preset distance threshold, the second vehicle is controlled to output a second braking force, and the first braking force is less than the second braking force.

[0029] Optionally, controlling the second vehicle to turn in a direction away from the first vehicle includes:

[0030] Based on the environmental information, determining a road scene in which the second vehicle is located and a distance between the second vehicle and a third vehicle, the third vehicle being a vehicle in a turning direction of the second vehicle;

[0031] When the distance between the second vehicle and the third vehicle is greater than a target distance threshold and the road scene is a narrow road, controlling the second vehicle to adjust a wheel angle by a first angle in a direction away from the first vehicle;

[0032] When the distance between the second vehicle and the third vehicle is greater than the target distance threshold and the road scene is a wide road, the second vehicle is controlled to adjust the wheel angle by a second angle away from the first vehicle, and the first angle is smaller than the second angle.

[0033] Optionally, the determining, based on the environmental information, a road scene in which the second vehicle is located includes:

[0034] Based on the environmental information, determining a road width and a number of lanes of a road on which the second vehicle is located;

[0035] When the road width is less than or equal to a preset width threshold and the number of lanes is less than or equal to a preset number threshold, determining that the road scene where the second vehicle is located is a narrow road;

[0036] When the road width is greater than the preset width threshold and the number of lanes is greater than the preset number threshold, it is determined that the road scene where the second vehicle is located is a wide road.

[0037] In a second aspect, a vehicle control device is provided, the device comprising:

[0038] A first detection module, used to detect the temperature of a preset component of a first vehicle at multiple times and the state of a brake light of the first vehicle, the first vehicle being a vehicle in front of the second vehicle;

[0039] a determination module, configured to determine the start / stop state of the first vehicle based on the temperature of the preset component at the plurality of times and the state of the brake light;

[0040] The control module is used to control the second vehicle to output braking force and / or turn in a direction away from the first vehicle when the start-stop state of the first vehicle is an initial start state or an initial stop state.

[0041] Optionally, the determining module is used to:

[0042] Determining a temperature trend of the preset component at multiple moments based on the temperature of the preset component at the multiple moments;

[0043] Based on the temperature trend of the preset component at multiple times and the brake light status, the start / stop status of the first vehicle is determined.

[0044] Optionally, the determining module is used to:

[0045] When the brake light state is on and the temperature trend of the preset component at multiple moments is an upward trend, determining that the start-stop state of the first vehicle is an initial start state;

[0046] When the brake light state is in the on state and the temperature trend of the preset component at multiple moments is a downward trend, it is determined that the start-stop state of the first vehicle is an initial parking state.

[0047] Optionally, the device further comprises:

[0048] a second detection module, configured to detect whether a door of the first vehicle is opened when the start / stop state of the first vehicle is an initial parking state;

[0049] Optionally, the control module is used to:

[0050] When the door of the first vehicle is opened, the second vehicle is controlled to output a braking force and / or to turn away from the first vehicle.

[0051] Optionally, the control module is used to:

[0052] When the start / stop state of the first vehicle is the initial start state or the initial stop state, acquiring environmental information of the current position of the second vehicle;

[0053] Determining the road condition at the location of the second vehicle based on the environmental information;

[0054] When the road condition at the location of the second vehicle is a dense traffic section, controlling the second vehicle to output a braking force or controlling the second vehicle to output a braking force and turn in a direction away from the first vehicle;

[0055] When the road condition at the location of the second vehicle is a sparse traffic section, the second vehicle is controlled to turn in a direction away from the first vehicle.

[0056] Optionally, the control module is used to:

[0057] obtaining a longitudinal distance between the first vehicle and the second vehicle;

[0058] When the longitudinal distance is greater than or equal to a preset distance threshold, controlling the second vehicle to output a first braking force;

[0059] When the longitudinal distance is less than the preset distance threshold, the second vehicle is controlled to output a second braking force, and the first braking force is less than the second braking force.

[0060] Optionally, the control module is used to:

[0061] Based on the environmental information, determining a road scene in which the second vehicle is located and a distance between the second vehicle and a third vehicle, the third vehicle being a vehicle in a turning direction of the second vehicle;

[0062] When the distance between the second vehicle and the third vehicle is greater than a target distance threshold and the road scene is a narrow road, controlling the second vehicle to adjust a wheel angle by a first angle in a direction away from the first vehicle;

[0063] When the distance between the second vehicle and the third vehicle is greater than the target distance threshold and the road scene is a wide road, the second vehicle is controlled to adjust the wheel angle by a second angle away from the first vehicle, and the first angle is smaller than the second angle.

[0064] Optionally, the control module is used to:

[0065] Based on the environmental information, determining a road width and a number of lanes of a road on which the second vehicle is located;

[0066] When the road width is less than or equal to a preset width threshold and the number of lanes is less than or equal to a preset number threshold, determining that the road scene where the second vehicle is located is a narrow road;

[0067] When the road width is greater than the preset width threshold and the number of lanes is greater than the preset number threshold, it is determined that the road scene where the second vehicle is located is a wide road.

[0068] In a third aspect, a vehicle is provided, the vehicle comprising:

[0069] A memory for storing executable program codes;

[0070] The processor is used to call and run the executable program code from the memory so that the vehicle executes the above-mentioned vehicle control method.

[0071] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above-mentioned vehicle control method when executed by a processor.

[0072] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the steps of the above-mentioned vehicle control method.

[0073] It can be understood that the beneficial effects of the second, third, fourth and fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0075] Figure 1 It is a schematic diagram of an implementation environment of a vehicle control method provided in an embodiment of the present application;

[0076] Figure 2 is a schematic diagram of a scenario of a vehicle control method provided in an embodiment of the present application;

[0077] Figure 3 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0078] Figure 4 is a schematic diagram of a second vehicle outputting a second braking force provided by an embodiment of the present application;

[0079] Figure 5 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0080] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0082] It should be understood that the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, the words "first" and "second" are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not limit them to be different.

[0083] Before describing the vehicle control method provided in the embodiment of the present application, the implementation environment involved in the embodiment of the present application is first described.

[0084] For example, Figure 1 is a schematic diagram of an implementation environment of a vehicle control method provided in an embodiment of the present application, see Figure 1 , Figure 1 The system includes a front view camera 101 , an infrared sensor 102 , an EPS (Electronic Power Steering) 103 , an ESP (Electronic Stability Program) 104 and an ECU (Electronic Control Unit) 105 .

[0085] In the embodiment of the present application, the vehicle may include a front-view camera 101, an infrared sensor 102, EPS 103, ESP 104 and ECU 105.

[0086] Among them, the front-view camera 101 is used to collect environmental information in front of the vehicle. Optionally, the front-view camera 101 can be a smart camera, that is, after collecting the environmental information, the front-view camera 101 can automatically identify the collected environmental information to identify the target to be identified. For example, in an embodiment of the present application, it can identify whether there is a vehicle in front of the vehicle.

[0087] The infrared sensor 102 is a sensor that uses infrared rays to process data. The infrared sensor 102 is used for contactless temperature measurement, gas composition analysis, etc. Generally, the infrared sensor 102 obtains information by detecting infrared radiation emitted or reflected by an object. The intensity of infrared radiation is related to the temperature of the object. Therefore, the temperature of the object can be detected by detecting infrared radiation emitted or reflected by the object.

[0088] EPS103 is a system that provides steering assistance through an electric motor. It detects the force applied by the driver to the steering wheel through a torque sensor on the steering column. The electric motor then provides corresponding assistance based on the force signal detected by the torque sensor to assist in vehicle steering, making steering easier and more precise.

[0089] ESP104 is an electronic stability system that is used to maintain the stability of the vehicle during driving. In the embodiment of the present application, ESP104 is an electronic stability program with an integrated brake unit, which not only includes the traditional electronic stability program function, but also integrates a brake unit, so that the response of the braking system is faster and more accurate. Usually, ESP104 detects parameters such as wheel speed, vehicle speed, steering angle, etc. to calculate the braking force of the wheel, and then generates corresponding brake pressure through the brake master cylinder to control the vehicle braking.

[0090] In the embodiment of the present application, the front-view camera 101 collects environmental information in front of the vehicle, identifies whether there is a vehicle in front of the vehicle, and identifies the brake light status of the vehicle when there is a vehicle in front, and then transmits the identification result or the environmental information in front of the vehicle to ECU105. When there is a vehicle in front, the infrared sensor continuously detects the temperature of some components in the vehicle in front, and transmits the detected temperature to ECU105. ECU105 can determine whether the vehicle in front has just started or just stopped based on the detected temperature and the brake light status. Subsequently, when the vehicle in front has just started or just stopped, ECU105 can send a steering signal to EPS to make EPS turn, and / or send a braking signal to ESP to make ESP brake and decelerate.

[0091] The application scenarios of the embodiments of the present application are further described.

[0092] For example, Figure 2 is a schematic diagram of a vehicle control method provided in an embodiment of the present application, see Figure 2 , Figure 2 The first vehicle 201 and the second vehicle 202 are included.

[0093] like Figure 2 As shown, the first vehicle 201 is parked on the roadside, in front of the second vehicle 202, and the first vehicle 201 is located in front of the second vehicle 202. In this case, when the second vehicle 202 is driving, it needs to pay close attention to whether the first vehicle 201 will suddenly start to drive on the road, or whether passengers in the first vehicle 201 will suddenly get off after just parking. In the case that the first vehicle 201 suddenly starts to drive on the road or passengers in the first vehicle suddenly get off after parking, it will collide with the second vehicle 202, resulting in serious consequences.

[0094] To this end, the embodiment of the present application provides a vehicle control method, which can be applied to a scene where a vehicle in front of it stops on the roadside during driving, such as the above Figure 2 In the scenario described in the embodiment.

[0095] Continue to use the above Figure 2 The scenario of the embodiment illustrates the vehicle control method provided in the embodiment of the present application.

[0096] Specifically, the second vehicle 202 first detects the temperature of certain components of the first vehicle 201 at multiple times and the brake light status of the first vehicle 201, and then determines whether the first vehicle 201 has just started or just stopped based on the detected temperature of certain components at multiple times and the brake light status. In the case where the first vehicle 201 has just started or just stopped, the second vehicle 202 is controlled to output braking force and / or turn in a direction away from the first vehicle 201.

[0097] When the first vehicle 201 is just started or just stopped, the temperature of some of its components may change, such as the engine temperature. In addition, when the first vehicle 201 is just started, there is a risk that the first vehicle 201 will collide with the vehicle when entering the road, and when the first vehicle 201 is just stopped, there is a risk that the passengers in the vehicle will collide with the vehicle when getting off. Therefore, the present application can accurately determine whether the first vehicle 201 has just started or just stopped based on the temperature of certain components at multiple times and the state of the brake lights. Later, when the first vehicle 201 has just started or just stopped, the second vehicle 202 can be controlled to perform corresponding actions to avoid the risk of collision between the two vehicles, thereby improving driving safety.

[0098] The vehicle control method provided in the embodiment of the present application is explained in detail below.

[0099] Figure 3 is a flow chart of a vehicle control method provided by an embodiment of the present application. The method can be applied to the ECU of the second vehicle. Figure 3 The method includes the following steps 301-303.

[0100] Step 301: Detecting the temperature of a preset component of a first vehicle at multiple times and the state of a brake light of the first vehicle, where the first vehicle is a vehicle in front of a second vehicle.

[0101] In the embodiment of the present application, the first vehicle may be the vehicle in front of the left side of the second vehicle or the vehicle in front of the right side of the second vehicle, and the embodiment of the present application does not make a sole limitation to this.

[0102] In an embodiment of the present application, the first vehicle may be a vehicle within a preset distance range in front of the second vehicle, that is, the first vehicle is located in front of the second vehicle and the following distance between the first vehicle and the second vehicle is less than or equal to the preset distance.

[0103] The preset component is a component that can reflect the start / stop state of the first vehicle. For example, the engine temperature will rise after the first vehicle is started, so the preset component can be the engine of the first vehicle. For another example, when the engine temperature of the first vehicle rises, heat needs to be dissipated, which is generally done through the air intake grille. Then the temperature of the air intake grille will also rise. Therefore, the preset component can also be the air intake grille of the first vehicle.

[0104] In addition, during the driving process, the vehicle needs to discharge exhaust gas through the exhaust pipe, so the temperature of the exhaust pipe of the vehicle will gradually rise. In this case, the preset component may also include the exhaust pipe, which is subsequently used as a basis for determining the start-stop state of the first vehicle. During the driving process, due to the friction between the tire and the ground, the temperature of the tire will gradually rise, so when the vehicle just stops, its tire temperature will also be high. In this case, the preset component may also include the tire temperature.

[0105] Alternatively, the preset component may include an engine of the first vehicle. In some embodiments, the preset component may include an engine and an air intake grille of the first vehicle.

[0106] In order to improve the accuracy of determining the start / stop state of the first vehicle, in an embodiment of the present application, the preset components may include an engine, an air intake grille, an exhaust pipe, and tires of the first vehicle.

[0107] In the embodiment of the present application, the operation of step 301 may be: detecting the temperatures of the engine, the air intake grille, the exhaust pipe and the tires of the first vehicle at multiple times through an infrared sensor.

[0108] Since the infrared sensor is a non-contact temperature detection device, it has high resolution and sensitivity and can detect small temperature changes and thermal radiation. Therefore, the temperature of the preset component of the first vehicle can be detected more conveniently and accurately by the infrared sensor.

[0109] Optionally, the infrared sensor may be an infrared radar, an active infrared sensor, a passive infrared sensor, a pyroelectric infrared sensor, etc., and the embodiment of the present application does not limit the type of the infrared sensor. In the embodiment of the present application, a thermal infrared imaging camera may also be used to detect the temperature of a preset component at multiple times.

[0110] In the embodiment of the present application, the infrared sensor can detect the temperature of the preset component through different frequency bands.

[0111] For any one of the multiple moments, the infrared radiation information emitted by the preset component is detected in different frequency bands by an infrared sensor; the temperature corresponding to the different frequency bands is determined based on the infrared radiation information corresponding to the different frequency bands; the highest temperature among the temperatures in the different frequency bands or the average temperature of the different frequency bands is determined as the temperature of the preset component at this moment.

[0112] Since the radiation intensity emitted by an object in different bands may be different, in this case, multi-band detection can more comprehensively capture the temperature information of preset components, thereby improving the sensitivity and accuracy of temperature detection.

[0113] It should be understood that the above operation is to perform temperature detection in different frequency bands for each preset component, and for each preset component, the temperature detection in different frequency bands is performed at each of multiple moments. Subsequently, the temperature of each preset component at multiple moments is obtained by detecting in different frequency bands, so that the temperature of each preset component at multiple moments can be accurately detected.

[0114] Optionally, when detecting the temperature of the preset component at multiple times, the ambient temperature of the location where the first vehicle is located may also be detected, and subsequently, the temperature of the preset component at multiple times may be auxiliary detected based on the ambient temperature of the location where the first vehicle is located.

[0115] Since the detection result of the infrared sensor is easily affected by environmental factors, in the embodiment of the present application, the temperature of the preset component at multiple times can be auxiliary detected by detecting the ambient temperature of the location of the first vehicle.

[0116] Optionally, an ambient temperature sensor may be arranged on the second vehicle, and the ambient temperature sensor may detect changes in the external temperature in real time.

[0117] Specifically, for any one of the multiple moments, a reference temperature of the preset component at this moment is detected by an infrared sensor; when the reference temperature of the preset component at this moment is greater than or equal to the ambient temperature of the location where the first vehicle is located, the reference temperature of the preset component at this moment is determined as the temperature of the preset component at this moment; when the reference temperature of the preset component at this moment is less than the ambient temperature of the location where the first vehicle is located, the reference temperature of the preset component is detected again by the infrared sensor.

[0118] In this case, by performing auxiliary detection on the temperature of the preset component based on the ambient temperature, the interference of the ambient temperature on the infrared sensor can be reduced, thereby improving the temperature detection sensitivity.

[0119] Optionally, when the vehicle stops or starts to enter the road, the driver generally steps on the brake pedal, so the brake lights will light up. In this case, the brake light state of the first vehicle can also be detected.

[0120] Optionally, the image of the first vehicle may be captured by a front-view camera of the second vehicle; a brake light image may be acquired from the image of the first vehicle; and a brightness analysis may be performed on the brake light image to determine the brake light status of the first vehicle.

[0121] Since the brightness of the brake light when it is on and when it is off is greatly different, after the brake light image is acquired, the brake light state of the first vehicle can be determined by brightness analysis. In this way, the brake light state of the first vehicle can be determined more conveniently.

[0122] Among them, the operation of obtaining the brake light image from the image of the first vehicle can be: locating the brake light in the image of the first vehicle to determine the position of the brake light in the image of the first vehicle; and cropping the area where the brake light is located to obtain the brake light image.

[0123] Optionally, the brake lights in the image of the first vehicle may be located by a target detection model. For example, the target detection model may be YOLO (You Only Look Once), RCNN (Region-based Convolutional Neural Networks), or the like.

[0124] Among them, the operation of performing brightness analysis on the brake light image to determine the brake light state of the first vehicle can be: when the brightness of the brake light image is greater than or equal to a preset brightness threshold, determining that the brake light state of the first vehicle is on; when the brightness of the brake light image is less than the preset brightness threshold, determining that the brake light state of the first vehicle is off.

[0125] The preset brightness threshold can be set in advance, and the preset brightness threshold can be set larger.

[0126] When the brightness of the brake light image is greater than the preset brightness threshold, it means that the brightness of the brake light image is high, that is, the brake light may be on, and it can be determined that the brake light state of the first vehicle is on. When the brightness of the brake light image is less than the preset brightness threshold, it means that the brightness of the brake light image is low, that is, the brake light may be off, and it can be determined that the brake light state of the first vehicle is off.

[0127] It is worth noting that through the above step 301, the temperature of the preset components of the first vehicle at multiple times and the state of the brake lights can be detected, and the start / stop state of the first vehicle can be further determined based on this.

[0128] Step 302: Determine the start / stop state of the first vehicle based on the temperature of the preset component at the multiple moments and the state of the brake light.

[0129] The start / stop status of the first vehicle is used to indicate the length of time the first vehicle is started or parked. In an embodiment of the present application, the start / stop status of the first vehicle may include an initial start status, an initial parking status, a long parking status, and the like.

[0130] The initial start state refers to the state where the first vehicle has just started. Generally, when the first vehicle is in the initial start state, the engine starts running from a stationary state, the ignition system is activated, and the fuel system starts to supply fuel, so that the engine and cooling system begin to heat up. And when the driver just starts to enter the lane, he usually steps on the brake pedal, so the brake pedal will also light up in the initial start state.

[0131] The initial parking state refers to the state where the first vehicle has just stopped. Generally, when the first vehicle is in the initial parking state, the engine gradually decelerates from the running state, and the engine and cooling system begin to cool down. When the vehicle has just stopped and the driver has not yet engaged the P gear (parking gear), the brake lights are on at this time. After the driver engages the P gear, the brake lights will go out.

[0132] The long-term parking state refers to a state in which the first vehicle is parked for a long time. Generally, when the first vehicle is in the long-term parking state, the engine will not run, that is, the engine will not work, so in this case the engine and the cooling system will not work and will not heat up.

[0133] The temperature and brake light status of the preset component at multiple times can respectively reflect whether the vehicle is started or stopped. In this way, the start / stop status of the first vehicle can be accurately determined by comprehensively analyzing the temperature and brake light status of the preset component at the multiple times.

[0134] Optionally, the operation of step 302 may be: determining the temperature trend of the preset component at multiple moments based on the temperature of the preset component at the multiple moments; determining the start / stop state of the first vehicle based on the temperature trend of the preset component at multiple moments and the state of the brake lights.

[0135] Since the temperatures of the engine, air intake grille, exhaust pipe, and tires will have a certain trend, an upward trend or a downward trend, when the first vehicle is started or stopped, the start-stop state of the first vehicle can be determined by determining the temperature trends of preset components and the status of brake lights at multiple times. In this way, a more accurate start-stop state can be determined.

[0136] Optionally, it is also possible to first determine whether the temperature of the preset component at the first moment among multiple moments is greater than or equal to the preset temperature threshold, and then, if the temperature of the preset component at the first moment among multiple moments is greater than or equal to the preset temperature threshold, determine the temperature trend of the preset component at the multiple moments based on the temperature of the preset component at the multiple moments.

[0137] The preset temperature threshold can be set in advance, and the preset temperature threshold can be set according to the ambient temperature, for example, the preset temperature threshold can be set to the ambient temperature. Generally, the engine temperature, the air intake grille temperature, the exhaust pipe temperature and the tire temperature of the vehicle may not be lower than the ambient temperature when the vehicle is started or stopped. Therefore, the preset temperature threshold can be set to the ambient temperature, and it is determined whether the temperature of the preset component at the first moment among the multiple moments is greater than or equal to the preset temperature threshold.

[0138] Consider a situation where, when the first vehicle stops, the temperature of the preset component of the first vehicle is relatively high, and will subsequently show a trend of gradually decreasing. Therefore, at this time, if it is determined that the temperature of the preset component at the first moment among multiple moments is greater than or equal to the preset temperature threshold, it can be determined that the first vehicle may be stopping or starting at this time. In addition, if the temperature of the preset component at the first moment among multiple moments is less than the preset temperature threshold, it means that the temperature detected at the first moment may have an error, so the start-stop state determined in this case will be inaccurate, and the temperature trend of the preset component at multiple moments may not be determined.

[0139] Among them, based on the temperature of the preset component at the multiple moments, the operation of determining the temperature trend of the preset component at the multiple moments can be: if the temperature of the preset component at a later moment among the multiple moments is greater than the temperature at a previous moment, then determining that the temperature trend of the preset component at the multiple moments is an upward trend; if the temperature of the preset component at a later moment among the multiple moments is less than the temperature at the previous moment, then determining that the temperature trend of the preset component at the multiple moments is a downward trend.

[0140] If the temperature of the preset component at a later moment among the multiple moments is greater than the temperature at the previous moment, it means that the temperature of the preset component is gradually rising at this time, and it can be determined that the temperature trend of the preset component at these multiple moments is an upward trend. If the temperature of the preset component at a later moment among the multiple moments is less than the temperature at the previous moment, it means that the temperature of the preset component is gradually decreasing at this time, and it can be determined that the temperature trend of the preset component at these multiple moments is a downward trend.

[0141] Optionally, if the temperature of the preset component at a later moment among the multiple moments is equal to the temperature at a previous moment, it means that the temperature of the preset component at the multiple moments has not changed, and it can be determined that the temperature trend of the preset component at the multiple moments is stable.

[0142] Among them, based on the temperature trend of the preset component at the multiple moments and the brake light status, the operation of determining the start-stop state of the first vehicle can be: when the brake light status is on and the temperature trend of the preset component at the multiple moments is an upward trend, determining the start-stop state of the first vehicle as the initial start-up state; when the brake light status is on and the temperature trend of the preset component at the multiple moments is a downward trend, determining the start-stop state of the first vehicle as the initial parking state.

[0143] When the brake light is on and the temperature trend of the preset component at multiple times is an upward trend, it means that the driver is stepping on the brake pedal at this time, that is, the first vehicle may start to enter the lane or the first vehicle may stop. Then, when the temperature trend of the preset component at multiple times is an upward trend, it means that the temperature of the preset component of the first vehicle is gradually rising. In this case, it means that the first vehicle has just started, and it can be determined that the start-stop state of the first vehicle is the initial start state.

[0144] When the brake light state is on and the temperature trend of the preset component at multiple moments is a downward trend, it means that the temperature of the preset component of the first vehicle is gradually decreasing. In this case, it means that the first vehicle has just stopped, and it can be determined that the start-stop state of the first vehicle is the initial parking state.

[0145] After the first vehicle stops, when the driver wants to get off, the gear of the first vehicle must be switched to the P gear, and the brake light is off in this case. Therefore, in the embodiment of the present application, when the brake light state is switched from the on state to the off state and the temperature trend of the preset component at multiple moments is a downward trend, the start-stop state of the first vehicle can be determined as the initial parking state.

[0146] Optionally, when the brake light state is off and the temperature trend of the preset component at multiple times is stable, it is determined that the start-stop state of the first vehicle is a long-term parking state.

[0147] In the long-term parking state, the first vehicle will not suddenly enter the lane or the passengers in the vehicle will suddenly get off. In other words, in the long-term parking state, there is no risk of collision between the first vehicle and the second vehicle. Therefore, in the long-term parking state, the second vehicle can be controlled to maintain the current state and drive.

[0148] Step 303: When the start / stop state of the first vehicle is an initial start state or an initial stop state, control the second vehicle to output a braking force and / or turn in a direction away from the first vehicle.

[0149] Since the first vehicle may enter the lane when it is just started, in this case, there may be a risk of collision between the first vehicle and the second vehicle. In addition, when the first vehicle is just parked, there may be a possibility that the passengers in the vehicle get off. In this case, there is a risk of collision between the first vehicle and the door or passengers in the vehicle of the second vehicle. Therefore, when the start-stop state of the first vehicle is the initial start state or the initial parking state, the second vehicle can be controlled accordingly.

[0150] In an embodiment of the present application, when the start-stop state of the first vehicle is an initial start state or an initial stop state, by controlling the second vehicle to output braking force and / or turn in a direction away from the first vehicle, the second vehicle can be controlled to slow down or avoid the first vehicle, thereby avoiding the risk of collision between the first vehicle and the second vehicle and improving driving safety.

[0151] Optionally, the operation of step 303 may be: when the start-stop state of the first vehicle is an initial start-up state or an initial parking state, obtaining environmental information of the current position of the second vehicle; based on the environmental information, determining the road condition of the second vehicle; when the road condition at the second vehicle's position is a dense traffic section, controlling the second vehicle to output braking force or controlling the second vehicle to output braking force and turn away from the first vehicle; when the road condition at the second vehicle's position is a sparse traffic section, controlling the second vehicle to turn away from the first vehicle.

[0152] A dense traffic section refers to a road with many pedestrians and vehicles. It should be understood that the road conditions of a dense traffic section are relatively complex, and the second vehicle needs to be extra careful when driving on a dense traffic section. Therefore, when driving on a dense traffic section, the second vehicle can be controlled to output braking force or the second vehicle can be controlled to output braking force and turn away from the first vehicle. Because when driving on a dense traffic section, the second vehicle may not be easy to turn or change lanes in some cases (such as the presence of pedestrians or vehicles next to the second vehicle), the second vehicle can be controlled to output braking force in this case.

[0153] A sparse traffic section refers to a road with fewer pedestrians and vehicles. It should be understood that it is easier for the second vehicle to drive on a sparse traffic section than on a dense traffic section. Since there is less traffic and pedestrian flow on a sparse traffic section, it is relatively easier for the second vehicle to change lanes and turn. Therefore, when the second vehicle is driving on a sparse traffic section, the second vehicle can be controlled to turn in a direction away from the first vehicle.

[0154] In this case, by determining the road condition at the location of the second vehicle, the second vehicle is controlled to output braking force when the second vehicle is traveling on a road section with dense traffic, so as to avoid a collision between the first vehicle and the second vehicle while ensuring that the second vehicle does not collide with other vehicles or pedestrians; or the second vehicle is controlled to output braking force and turn away from the second vehicle. This is a doubly guaranteed way to avoid the risk of collision between the first vehicle and the second vehicle when conditions permit.

[0155] In addition, when the second vehicle is traveling on a road section with sparse traffic, the second vehicle is controlled to turn away from the first vehicle without decelerating, so as to avoid the risk of collision between the first vehicle and the second vehicle while ensuring the driving efficiency of the second vehicle.

[0156] Optionally, when the road condition at the location of the second vehicle is a section with dense traffic, the operation of controlling the second vehicle to output the braking force or controlling the second vehicle to output the braking force and turn away from the first vehicle can be: when there is a target obstacle around the second vehicle, control the second vehicle to output the braking force; when there is no target obstacle around the second vehicle, control the second vehicle to output the braking force or turn away from the first vehicle.

[0157] Target obstacles can be pedestrians, other vehicles, walls, trees, etc.

[0158] If there is a target obstacle around the second vehicle, it means that the second vehicle cannot turn smoothly at this time. Therefore, in this case, the second vehicle can be controlled to output braking force, so as to ensure the driving safety of the second vehicle. If there is no target obstacle around the second vehicle, it means that the second vehicle can turn smoothly at this time. In order to avoid the risk of collision between the first vehicle and the second vehicle as soon as possible, the second vehicle can be controlled to output braking force and turn away from the second vehicle.

[0159] In the embodiment of the present application, it includes but is not limited to detecting whether there are target obstacles around the second vehicle by using a laser radar or a camera.

[0160] Optionally, when the start-stop state of the first vehicle is an initial parking state, it can also be determined whether the door of the first vehicle is open; when the door of the first vehicle is open, the second vehicle is controlled to output braking force and / or turn away from the first vehicle.

[0161] Generally, after the vehicle stops, if someone wants to get out, they will open the door first, usually at a smaller angle, and then open it to a larger angle to get out when it is determined that the vehicle can be gotten out. Therefore, in order to further determine whether there are passengers in the vehicle getting out when the vehicle stops, it is also possible to determine whether the door of the first vehicle is open.

[0162] In this case, by further determining whether the door of the first vehicle is open when the start-stop state of the first vehicle is the initial parking state, it is possible to more accurately determine whether there is a possibility of passengers getting off the first vehicle, and thus accurately determine whether there is a risk of collision between the first vehicle and the second vehicle.

[0163] As an implementation mode, a door image of the first vehicle may be captured by a camera of the second vehicle; and the state of the door image may be recognized to determine whether the door of the first vehicle is open.

[0164] Optionally, the door state recognition model can be used to perform state recognition on the door image to recognize the door state of the first vehicle, thereby determining whether the door of the first vehicle is open. The door state recognition model can be a convolutional neural network.

[0165] It is worth noting that in the above step 303, the specific operation of controlling the second vehicle to output the braking force may be: obtaining the longitudinal distance between the first vehicle and the second vehicle; when the longitudinal distance is greater than or equal to a preset distance threshold, controlling the second vehicle to output the first braking force; when the longitudinal distance is less than the preset distance threshold, controlling the second vehicle to output the second braking force.

[0166] The first braking force is smaller than the second braking force.

[0167] The preset distance threshold may be set in advance, and the preset distance threshold may be set larger.

[0168] When the longitudinal distance between the first vehicle and the second vehicle is greater than or equal to the preset distance threshold, it means that the longitudinal distance between the first vehicle and the second vehicle is large, that is, the first vehicle is far from the second vehicle, then the second vehicle can be controlled to output a smaller braking force, that is, to output the first braking force. When the longitudinal distance between the first vehicle and the second vehicle is less than the preset distance threshold, it means that the longitudinal distance between the first vehicle and the second vehicle is small, that is, the first vehicle is close to the second vehicle, then the second vehicle can be controlled to output a larger braking force, that is, to output the second braking force.

[0169] In this case, by controlling the second vehicle to output a smaller braking force when the longitudinal distance is large, the second vehicle can be controlled to decelerate slowly without causing sudden braking and the like, thereby avoiding affecting the normal driving of the following vehicle. When the longitudinal distance is small, the second vehicle is controlled to output a larger braking force, so that the second vehicle is controlled to decelerate as quickly as possible, thereby ensuring that the risk of collision between the first vehicle and the second vehicle can be avoided, and driving safety can be improved.

[0170] For example, Figure 4 is a schematic diagram of a second vehicle outputting a second braking force provided by an embodiment of the present application. Figure 4 , Figure 4 The first vehicle 401 and the second vehicle 402 are included.

[0171] The longitudinal distance between the first vehicle 401 and the second vehicle 402 is A, and it is assumed that the longitudinal distance between the first vehicle 401 and the second vehicle 402 is 10 meters, and the preset distance threshold is 5 meters. Then, the second vehicle 402 can be controlled to output the first braking force.

[0172] It is worth noting that in the above step 303, the specific operation of controlling the second vehicle to turn away from the first vehicle may be: based on the environmental information, determining the road scene in which the second vehicle is located and the distance between the second vehicle and the third vehicle; when the distance between the second vehicle and the third vehicle is greater than the target distance threshold and the road scene is a narrow road, controlling the second vehicle to adjust the wheel angle by a first angle in the direction away from the first vehicle; when the distance between the second vehicle and the third vehicle is greater than the target distance threshold and the road scene is a wide road, controlling the second vehicle to adjust the wheel angle by a second angle in the direction away from the first vehicle.

[0173] The third vehicle may be a vehicle in the turning direction of the second vehicle. For example, if the first vehicle is located in front of the right side of the second vehicle, the third vehicle may be a vehicle on the left side of the second vehicle, specifically, a vehicle behind the left side of the third vehicle.

[0174] In the embodiment of the present application, the distance between the second vehicle and the third vehicle may be the longitudinal distance between the second vehicle and the third vehicle. In some embodiments, the distance between the second vehicle and the third vehicle may also be the lateral distance between the second vehicle and the third vehicle. Of course, the distance between the second vehicle and the third vehicle may also be the lateral distance and the longitudinal distance between the second vehicle and the third vehicle.

[0175] In the embodiment of the present application, the first angle is smaller than the second angle.

[0176] The target distance threshold can be set in advance, and the target distance threshold can be set larger.

[0177] When the distance between the second vehicle and the third vehicle is greater than the target distance threshold, it means that the distance between the second vehicle and the third vehicle is large, that is, the second vehicle has room to turn at this time. It is further determined that the road scene is a narrow road, which means that the road currently traveled by the second vehicle is narrow and the space for turning is small. The second vehicle can be controlled to adjust the wheel angle by a smaller angle in the direction away from the first vehicle, that is, the second vehicle is controlled to adjust the wheel angle by a first angle in the direction away from the first vehicle.

[0178] If it is further determined that the road scene is a wide road, it means that the road currently traveled by the second vehicle is relatively wide, that is, the second vehicle has a larger turning space at this time, and the second vehicle can be controlled to adjust the wheel angle to a larger angle away from the first vehicle, that is, the second vehicle is controlled to adjust the wheel angle to a second angle away from the first vehicle.

[0179] In this way, by judging and determining the road scene in which the second vehicle is located and the distance between the second vehicle and the third vehicle, the wheel angle is subsequently adjusted according to the road scene in which the second vehicle is located and the distance between the second vehicle and the third vehicle, so that the second vehicle can make more precise turns based on the actual road environment in which it is traveling, thereby improving the user experience.

[0180] Optionally, when the distance between the second vehicle and the third vehicle is less than a target distance threshold, the second vehicle may be controlled to output a braking force.

[0181] When the distance between the second vehicle and the third vehicle is less than the target distance threshold, it means that the distance between the second vehicle and the third vehicle is small, so the second vehicle may collide with the third vehicle when turning. That is to say, in this case, there is no turning opportunity for the second vehicle. Then, the second vehicle can be controlled to output braking force so that the second vehicle can avoid the risk of collision between the first vehicle and the second vehicle by decelerating.

[0182] Among them, the operation of determining the road scene of the second vehicle based on the environmental information can be: based on the environmental information, determining the road width and the number of lanes of the road where the second vehicle is located; when the road width is less than or equal to a preset width threshold and the number of lanes is less than or equal to a preset number threshold, determining that the road scene where the second vehicle is located is a narrow road; when the road width is greater than the preset width threshold and the number of lanes is greater than the preset number threshold, determining that the road scene where the second vehicle is located is a wide road.

[0183] The preset width threshold and the preset number threshold can be set in advance, and both the preset width threshold and the preset number threshold can be set larger.

[0184] Generally, a narrow road is a road with a single lane, no obvious dividing strip, and a small road width, so there may be no lane line or only one yellow line on a narrow road. A wide road may be a road with multiple lanes and a large width. Therefore, in the embodiment of the present application, the road scene where the second vehicle is located can be determined by the road width and the number of lanes of the road where the second vehicle is located.

[0185] When the road width is less than or equal to the preset width threshold and the number of lanes is less than or equal to the preset number threshold, it means that the road width is small and the number of lanes is small, that is, the second vehicle may be traveling on a narrow road, and the road scene where the second vehicle is located can be determined to be a narrow road. When the road width is greater than the preset width threshold and the number of lanes is greater than the preset number threshold, it means that the road width is large and the number of lanes is large, that is, the second vehicle is traveling on a road with a large road width and a large number of lanes, and the road scene where the second vehicle is located can be determined to be a wide road.

[0186] In the above specific operations, the operations for determining the road width and the number of lanes of the road where the second vehicle is located based on the environmental information may be: performing edge detection on the environmental information to obtain road line information of the road where the second vehicle is located; determining the road width based on the distance between road edges in the road line information; performing lane line detection on the road line information to obtain the lane lines of the road where the second vehicle is located; and determining the number of lanes based on the number of lane lines of the road where the second vehicle is located.

[0187] The edge detection method for the environmental information includes but is not limited to Canny edge detection, Sodel operator, convolutional neural network, etc., which is not limited in the embodiment of the present application.

[0188] Since edge detection can well identify line information of objects in an image, in this case, the road line information in the environmental information of the road where the second vehicle is located can be accurately determined through edge detection, and then the road width of the road where the second vehicle is located can be more accurately determined and facilitate subsequent lane line detection. And edge detection is usually a small algorithm, so its implementation method is relatively simple, so that the road width and the number of lanes of the road where the second vehicle is located can be quickly and conveniently determined.

[0189] Among them, based on the number of lane lines on the road where the second vehicle is located, the operation of determining the number of lanes can be: when there are no lane lines on the road where the second vehicle is located, determining the number of lanes to be 1; when the number of lane lines on the road where the second vehicle is located is 1, determining the number of lanes to be 2; when the number of lane lines on the road where the second vehicle is located is 2, determining the number of lanes to be 3.

[0190] It should be noted that, when there is no lane line on the road where the second vehicle is located, it means that the road is not divided into lanes, and there is only one lane. In addition, the number of lanes on the road where the first vehicle is located is equal to the number of lane lines plus 1.

[0191] In the embodiment of the present application, when it is determined that the start-stop state of the first vehicle is the initial start state or the initial stop state, the second vehicle can also be controlled to honk.

[0192] In this case, by controlling the second vehicle to honk, the warning sound can alert the surrounding pedestrians and vehicles, so that the driver of the first vehicle will notice the approaching vehicle after receiving the warning sound. And honk can increase the reaction time to potential emergency situations, thereby reducing the risk of collision between the two vehicles.

[0193] It is worth noting that the vehicle control method provided in the embodiment of the present application can predict in advance the risk of collision between the vehicle ahead and the vehicle ahead when the vehicle starts and needs to enter the road, stop, or when the passengers get off the vehicle. And when there is a risk of collision between the two vehicles, the vehicle can automatically avoid the collision by automatically slowing down and adjusting the steering direction, thereby reducing the burden on the driver and improving driving safety.

[0194] In the embodiment of the present application, the ECU first detects the temperature of the preset components of the first vehicle at multiple times and the brake light state of the first vehicle, and then determines the start-stop state of the first vehicle based on the detected temperature of the preset components at multiple times and the brake light state of the first vehicle. When the start-stop state of the first vehicle is the initial start state or the initial stop state, the second vehicle is controlled to output braking force and / or turn away from the first vehicle. Because the temperature of some components of the vehicle will change when it is just started or just stopped, such as the engine temperature. In addition, when the first vehicle is just started, there is a risk of collision with the first vehicle when the first vehicle enters the road, and when the first vehicle is just stopped, there is a risk of collision with the first vehicle when the passengers in the vehicle get off. Therefore, the present application can accurately determine the start-stop state of the first vehicle based on the temperature of the preset components at multiple times and the brake light state of the first vehicle. Later, when the start-stop state of the first vehicle is just started or just stopped, the second vehicle can be controlled to perform corresponding actions to avoid the risk of collision between the two vehicles, thereby improving driving safety.

[0195] Figure 5 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. The vehicle control device can be implemented by software, hardware or a combination of both to form part or all of a vehicle, and the vehicle can be as follows Figure 6 Vehicle shown. Figure 5 The device includes: a first detection module 501, a determination module 502 and a control module 503.

[0196] A first detection module 501 is used to detect the temperature of a preset component of a first vehicle at multiple times and the state of a brake light of the first vehicle, where the first vehicle is a vehicle in front of the second vehicle;

[0197] A determination module 502, configured to determine a start / stop state of the first vehicle based on the temperature of a preset component at a plurality of times and the state of a brake light;

[0198] The control module 503 is used to control the second vehicle to output braking force and / or turn in a direction away from the first vehicle when the start-stop state of the first vehicle is an initial start state or an initial stop state.

[0199] Optionally, the determination module 502 is used to:

[0200] Determining a temperature trend of a preset component at multiple times based on the temperature of the preset component at multiple times;

[0201] Based on the temperature trend of the preset components at multiple times and the status of the brake lights, the start / stop status of the first vehicle is determined.

[0202] Optionally, the determination module 502 is used to:

[0203] When the brake light state is on and the temperature trend of the preset component at multiple times is an upward trend, determining that the start-stop state of the first vehicle is an initial start state;

[0204] When the brake light state is in the on state and the temperature trend of the preset component at multiple moments is a downward trend, it is determined that the start-stop state of the first vehicle is an initial parking state.

[0205] Optionally, the device further comprises:

[0206] A second detection module is used to detect whether the door of the first vehicle is opened when the start-stop state of the first vehicle is an initial parking state;

[0207] Optionally, the control module 503 is used to:

[0208] When the door of the first vehicle is opened, the second vehicle is controlled to output a braking force and / or to turn away from the first vehicle.

[0209] Optionally, the control module 503 is used to:

[0210] When the start / stop state of the first vehicle is an initial start state or an initial stop state, obtaining environmental information of a current position of the second vehicle;

[0211] Determining a road condition at a location of the second vehicle based on the environmental information;

[0212] When the road condition at the location of the second vehicle is a dense traffic section, controlling the second vehicle to output a braking force or controlling the second vehicle to output a braking force and turn in a direction away from the first vehicle;

[0213] When the road condition at the location of the second vehicle is a sparse traffic section, the second vehicle is controlled to turn in a direction away from the first vehicle.

[0214] Optionally, the control module 503 is used to:

[0215] obtaining a longitudinal distance between the first vehicle and the second vehicle;

[0216] When the longitudinal distance is greater than or equal to a preset distance threshold, controlling the second vehicle to output a first braking force;

[0217] When the longitudinal distance is less than a preset distance threshold, the second vehicle is controlled to output a second braking force, and the first braking force is less than the second braking force.

[0218] Optionally, the control module 503 is used to:

[0219] Based on the environmental information, determine the road scene where the second vehicle is located and the distance between the second vehicle and a third vehicle, where the third vehicle is a vehicle in the turning direction of the second vehicle;

[0220] When the distance between the second vehicle and the third vehicle is greater than the target distance threshold and the road scene is a narrow road, controlling the second vehicle to adjust the wheel angle by a first angle in a direction away from the first vehicle;

[0221] When the distance between the second vehicle and the third vehicle is greater than the target distance threshold and the road scene is a wide road, the second vehicle is controlled to adjust the wheel angle by a second angle away from the first vehicle, and the first angle is smaller than the second angle.

[0222] Optionally, the control module 503 is used to:

[0223] Determining a road width and a number of lanes of a road on which the second vehicle is located based on the environmental information;

[0224] When the road width is less than or equal to a preset width threshold and the number of lanes is less than or equal to a preset number threshold, determining that the road scene where the second vehicle is located is a narrow road;

[0225] When the road width is greater than a preset width threshold and the number of lanes is greater than a preset number threshold, it is determined that the road scene where the second vehicle is located is a wide road.

[0226] In the embodiment of the present application, the temperature of the preset components of the first vehicle at multiple times and the brake light state of the first vehicle are first detected, and then the start-stop state of the first vehicle is determined based on the temperature of the preset components detected at multiple times and the brake light state of the first vehicle. When the start-stop state of the first vehicle is the initial start state or the initial stop state, the second vehicle is controlled to output braking force and / or turn in a direction away from the first vehicle. Because the temperature of some components of the vehicle will change when it is just started or just stopped, such as the engine temperature. In addition, when the first vehicle is just started, there is a risk of collision with the first vehicle when the first vehicle enters the road, and when the first vehicle is just stopped, there is a risk of collision with the first vehicle when the passengers in the vehicle get off. Therefore, the present application can accurately determine the start-stop state of the first vehicle based on the temperature of the preset components at multiple times and the brake light state of the first vehicle. Later, when the start-stop state of the first vehicle is just started or just stopped, the second vehicle can be controlled to perform corresponding actions to avoid the risk of collision between the two vehicles, thereby improving driving safety.

[0227] It should be noted that: the vehicle control device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example when controlling the vehicle. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0228] The functional units and modules in the above embodiments may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit, and the above integrated units may be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present application.

[0229] The vehicle control device and vehicle control method embodiments provided in the above embodiments belong to the same concept. The specific working process of the units and modules in the above embodiments and the technical effects brought about can be found in the method embodiment part and will not be repeated here.

[0230] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0231] For example, Figure 6 As shown, the vehicle 600 includes: a memory 61 and a processor 60, wherein the memory 61 stores an executable program code 62, and the processor 60 is used to call and execute the executable program code 62 to perform the above-mentioned vehicle control method.

[0232] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0233] In the case of dividing each functional module according to each function, the vehicle may include: a first detection module, a determination module and a control module. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0234] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0235] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing corresponding program codes and data.

[0236] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0237] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement the above-mentioned vehicle control method in the above-mentioned embodiment.

[0238] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement the above-mentioned vehicle control method in the above-mentioned embodiment.

[0239] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the method provided above and will not be repeated here.

[0240] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0241] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0242] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method is applied to a second vehicle, and the method comprises: detecting a temperature of a preset component of a first vehicle at a plurality of times and a brake light state of the first vehicle, the first vehicle being a vehicle in front of the second vehicle; determining a start / stop state of the first vehicle based on the temperature of the preset component at the plurality of times and the state of the brake light; When the start / stop state of the first vehicle is an initial start state or an initial stop state, the second vehicle is controlled to output a braking force and / or turn in a direction away from the first vehicle.

2. The method according to claim 1, characterized in that The determining the start / stop state of the first vehicle based on the temperature of the preset component at the multiple times and the state of the brake light includes: Determining a temperature trend of the preset component at multiple moments based on the temperature of the preset component at the multiple moments; Based on the temperature trend of the preset component at multiple times and the brake light status, the start / stop status of the first vehicle is determined.

3. The method according to claim 2, characterized in that The determining the start / stop state of the first vehicle based on the temperature trend of the preset component at multiple times and the brake light state includes: When the brake light state is on and the temperature trend of the preset component at multiple moments is an upward trend, determining that the start-stop state of the first vehicle is an initial start state; When the brake light state is in the on state and the temperature trend of the preset component at multiple moments is a downward trend, it is determined that the start-stop state of the first vehicle is an initial parking state.

4. The method according to claim 1, characterized in that The method further comprises: When the start-stop state of the first vehicle is an initial parking state, detecting whether a door of the first vehicle is opened; The controlling the second vehicle to output a braking force and / or to turn in a direction away from the first vehicle comprises: When the door of the first vehicle is opened, the second vehicle is controlled to output a braking force and / or to turn away from the first vehicle.

5. The method according to claim 1, characterized in that When the start-stop state of the first vehicle is an initial start state or an initial stop state, controlling the second vehicle to output a braking force and / or to turn in a direction away from the first vehicle includes: When the start / stop state of the first vehicle is the initial start state or the initial stop state, acquiring environmental information of the current position of the second vehicle; Determining the road condition at the location of the second vehicle based on the environmental information; When the road condition at the location of the second vehicle is a dense traffic section, controlling the second vehicle to output a braking force or controlling the second vehicle to output a braking force and turn in a direction away from the first vehicle; When the road condition at the location of the second vehicle is a sparse traffic section, the second vehicle is controlled to turn in a direction away from the first vehicle.

6. The method according to claim 1 or 5, characterized in that The controlling the second vehicle output braking force comprises: obtaining a longitudinal distance between the first vehicle and the second vehicle; When the longitudinal distance is greater than or equal to a preset distance threshold, controlling the second vehicle to output a first braking force; When the longitudinal distance is less than the preset distance threshold, the second vehicle is controlled to output a second braking force, and the first braking force is less than the second braking force.

7. The method according to claim 5, characterized in that The controlling the second vehicle to turn in a direction away from the first vehicle comprises: Based on the environmental information, determining a road scene in which the second vehicle is located and a distance between the second vehicle and a third vehicle, the third vehicle being a vehicle in a turning direction of the second vehicle; When the distance between the second vehicle and the third vehicle is greater than a target distance threshold and the road scene is a narrow road, controlling the second vehicle to adjust a wheel angle by a first angle in a direction away from the first vehicle; When the distance between the second vehicle and the third vehicle is greater than the target distance threshold and the road scene is a wide road, the second vehicle is controlled to adjust the wheel angle by a second angle away from the first vehicle, and the first angle is smaller than the second angle.

8. The method according to claim 7, characterized in that The determining, based on the environmental information, a road scene in which the second vehicle is located, includes: Based on the environmental information, determining a road width and a number of lanes of a road on which the second vehicle is located; When the road width is less than or equal to a preset width threshold and the number of lanes is less than or equal to a preset number threshold, determining that the road scene where the second vehicle is located is a narrow road; When the road width is greater than the preset width threshold and the number of lanes is greater than the preset number threshold, it is determined that the road scene where the second vehicle is located is a wide road.

9. A vehicle control device, characterized in that: The device comprises: A first detection module, used to detect the temperature of a preset component of a first vehicle at multiple times and the state of a brake light of the first vehicle, the first vehicle being a vehicle in front of the second vehicle; a determination module, configured to determine the start / stop state of the first vehicle based on the temperature of the preset component at the plurality of times and the state of the brake light; The control module is used to control the second vehicle to output braking force and / or turn in a direction away from the first vehicle when the start-stop state of the first vehicle is an initial start state or an initial stop state.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the method according to any one of claims 1 to 8.

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