Vehicle control method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle control method and device, a vehicle and a storage medium. The environment data of the environment where the vehicle is located can be obtained; if it is determined that a target object exists in a first preset area corresponding to the vehicle according to the environment data, the motion state of the target object is determined according to the environment data; and according to the motion state, the vehicle is controlled to conduct starting warning according to a preset warning strategy.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic driving of vehicles, and in particular to a vehicle control method, device, vehicle and storage medium. Background Art

[0002] Electric vehicles are widely loved by people because of their energy saving, environmental protection and low noise. Since electric vehicles have the characteristics of low noise when driving at low speed, pedestrians around electric vehicles generally find it difficult to find whether there are electric vehicles behind or near them. Therefore, related technologies have made some designs for the external noise of the vehicle. For example, when the vehicle is driving at a low speed, a low-frequency external buzzing sound can be emitted to warn pedestrians. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, vehicle and storage medium.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising:

[0005] Obtain environmental data of the vehicle's environment;

[0006] If it is determined according to the environmental data that there is a target object in the first preset area corresponding to the vehicle, determining the motion state of the target object according to the environmental data;

[0007] According to the motion state, the vehicle is controlled to perform a start warning according to a preset warning strategy.

[0008] Optionally, the environmental data includes multiple frames of environmental images collected within a preset historical time period, and determining the motion state of the target object according to the environmental data includes:

[0009] For each frame of the environment image, performing image recognition on the environment image to obtain first position information of the target object;

[0010] The motion state of the target object is determined according to the first position information of the target object corresponding to each frame of the environment image.

[0011] Optionally, the environmental data further includes multiple frames of radar data collected within the preset historical time period, and determining the motion state of the target object according to the environmental data includes:

[0012] Determine second position information of the target object according to each frame of radar data;

[0013] The motion state of the target object is determined according to the first position information corresponding to each frame of the environmental image and the second position information corresponding to each frame of the radar data.

[0014] Optionally, the motion state includes a moving state, and controlling the vehicle to perform a start warning according to a preset warning strategy according to the motion state includes:

[0015] When the motion state is the moving state, the moving direction of the target object is obtained; when it is determined that the moving direction of the target object intersects with the driving direction of the vehicle, the vehicle is controlled to perform a start warning according to the preset warning strategy.

[0016] Optionally, the motion state includes a stationary state, and controlling the vehicle to perform a start warning according to a preset warning strategy according to the motion state includes:

[0017] When the motion state is the static state, obtaining a target position where the target object is currently located;

[0018] When it is determined according to the target position that the target object is located in a second preset area, the vehicle is controlled to perform a start warning according to the preset warning strategy, and the second preset area includes a driving area of ​​the vehicle within a preset distance range in front of the vehicle.

[0019] Optionally, the method further comprises:

[0020] If the target object does not exist in the first preset area corresponding to the vehicle, determining whether there is an obstruction blocking the field of view of the vehicle in the first preset area according to the environmental data;

[0021] When it is determined that the obstruction exists in the first preset area, the vehicle is controlled to perform a start warning according to the preset warning strategy.

[0022] Optionally, the method further comprises:

[0023] When it is determined that the vehicle has started, it is determined whether the target object is within the first preset area according to the environmental data.

[0024] Optionally, the environmental data includes at least one of an environmental image, a lidar data, and a millimeter-wave radar data.

[0025] Optionally, the method further comprises:

[0026] Get the current location information of the vehicle;

[0027] In the case where it is determined according to the position information that the vehicle is at an intersection, if a traffic light is provided at the intersection, obtaining a traffic light state of the traffic light;

[0028] Determine whether the vehicle starts according to the state of the signal light.

[0029] Optionally, the method further comprises:

[0030] When it is determined according to the position information that the vehicle is not at an intersection, or when it is determined according to the position information that the vehicle is at an intersection and the intersection is not provided with the traffic light, whether the vehicle starts is determined according to a change in the vehicle speed within a preset time period.

[0031] Optionally, the preset warning strategy includes:

[0032] controlling the vehicle to output preset audio information; and / or,

[0033] The vehicle is controlled to turn on preset lights.

[0034] Optionally, the method further comprises:

[0035] When it is determined that the vehicle speed is greater than or equal to a preset vehicle speed threshold, the vehicle is controlled to stop the start warning.

[0036] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising:

[0037] An acquisition module is configured to acquire environmental data of an environment in which the vehicle is located;

[0038] A first determination module is configured to determine a motion state of the target object according to the environmental data if it is determined according to the environmental data that there is a target object in the first preset area corresponding to the vehicle;

[0039] The control module is configured to control the vehicle to perform a start warning according to a preset warning strategy based on the motion state.

[0040] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

[0041] processor;

[0042] a memory for storing processor-executable instructions;

[0043] Among them, the processor is configured to execute the executable instructions to implement the steps of the method described in the first aspect of the present disclosure.

[0044] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the vehicle control method provided in the first aspect of the present disclosure are implemented.

[0045] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: the motion state of a target object (such as a pedestrian) in a first preset area around the vehicle can be determined based on environmental data of the vehicle's environment, so that the vehicle can be controlled according to the motion state to issue a start warning to the target object according to a preset warning strategy. Compared with determining whether to issue a start warning only by the vehicle speed, this method can save power consumption, reduce environmental noise, and provide a more accurate start warning, thereby better reducing the potential risk of collision between the vehicle and the target object.

[0046] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0048] Figure 1 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0049] Figure 2 is based on Figure 1 The illustrated embodiment shows a flow chart of another vehicle control method.

[0050] Figure 3 is based on Figure 2 The illustrated embodiment shows a flow chart of a vehicle control method.

[0051] Figure 4 is based on Figure 1 The illustrated embodiment shows a flow chart of a vehicle control method.

[0052] Figure 5 is based on Figure 1 The illustrated embodiment shows a flow chart of a vehicle control method.

[0053] Figure 6 is based on Figure 1 The illustrated embodiment shows a flow chart of a vehicle control method.

[0054] Figure 7 is based on Figure 1 The illustrated embodiment shows a flow chart of a vehicle control method.

[0055] Figure 8 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0056] Fig. 9 is based on Figure 8The illustrated embodiment shows a block diagram of a vehicle control device.

[0057] Fig.10 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0059] It should be noted that all actions to obtain signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the location and with the authorization given by the owner of the corresponding device.

[0060] The present disclosure is mainly applied to the automatic driving scene of electric vehicles. Since electric vehicles usually have the characteristics of low noise when driving at low speed, the relevant technology can emit a low-frequency external beeping sound when the vehicle is driving at low speed to serve as a warning to pedestrians.

[0061] That is to say, in the related art, the external warning sound is triggered by judging whether the vehicle speed is low. However, if there are no pedestrians or non-motor vehicles around the vehicle, a warning reminder is given only by judging that the vehicle is at a low speed, which not only increases power consumption but also generates unnecessary environmental noise.

[0062] In order to solve the above problems, the present invention provides a vehicle control method, device, vehicle and storage medium. The specific implementation of the present invention is described in detail below with reference to the accompanying drawings.

[0063] Figure 1 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 1 As shown, the method can be applied to an electric vehicle and includes the following steps.

[0064] In step S11, environmental data of the environment in which the vehicle is located is acquired.

[0065] The environmental data may include at least one of real-time collected environmental images, laser radar data, and millimeter wave radar data. The laser radar data is data obtained by emitting a laser beam and measuring its reflection, and can be used to detect the position, distance, and type of a target. The millimeter wave radar data is data collected by a radar sensor in the millimeter wave frequency band. The radar sensor in the millimeter wave frequency band can detect a target and obtain information such as its distance, speed, angle, and type by emitting and receiving millimeter wave signals.

[0066] In step S12, if it is determined according to the environmental data that there is a target object in the first preset area corresponding to the vehicle, the motion state of the target object is determined according to the environmental data.

[0067] Among them, the first preset area generally refers to a fan-shaped area within a preset distance range in front of the vehicle with the vehicle as the center and a preset distance range in the direction of travel of the vehicle as the radius. The target object may include, for example, pedestrians, bicycles, electric bicycles, motorcycles, etc. The motion state may include a moving state or a stationary state. When it is determined that there is a target object in the first preset area corresponding to the vehicle, it can be regarded as a target object appearing near the vehicle. At this time, it is necessary to further determine the motion state of the target object so as to control the vehicle to issue a start warning according to the motion state.

[0068] In the present disclosure, after performing target detection on the environment image based on the pre-trained target detection algorithm, it can be determined whether there is a target object in the first preset area corresponding to the vehicle. Alternatively, after analyzing the laser radar data or the millimeter wave radar data, it can be determined whether there is a target object in the first preset area corresponding to the vehicle.

[0069] In step S13, the vehicle is controlled to perform a start warning according to a preset warning strategy based on the motion state.

[0070] For example, when it is determined that the motion state of the target object is a moving state, if the moving direction of the target object intersects with the driving direction of the vehicle, in this case, it is necessary to control the vehicle to warn the target object according to the preset warning strategy; in another possible application scenario, if the motion state of the target object is a stationary state, it is necessary to further determine whether the current position of the target object is in the driving path of the vehicle. If so, it is also necessary to control the vehicle to warn the target object according to the preset warning strategy.

[0071] Among them, the preset warning strategy may include: controlling the vehicle to output preset audio information; and / or controlling the vehicle to turn on preset lights. For example, the vehicle can be controlled to emit a buzzing sound while turning on the vehicle's warning lights at a preset frequency, so as to provide a more conspicuous starting warning to target objects around the vehicle.

[0072] In a possible application scenario, if it is determined that the target object does not exist in the first preset area corresponding to the vehicle, in order to further improve the safety of vehicle starting and the safety of pedestrians around the vehicle, it is necessary to further determine whether there is an obstruction blocking the vehicle's field of view in the first preset area. When it is determined that the obstruction exists, it is still impossible to rule out the existence of the target object in the first preset area. Therefore, in the present disclosure, if the target object does not exist in the first preset area corresponding to the vehicle, it is determined based on the environmental data whether there is an obstruction blocking the vehicle's field of view in the first preset area; when it is determined that the obstruction exists in the first preset area, the vehicle is controlled to perform a starting warning according to the preset warning strategy.

[0073] Among them, after performing target detection on the environmental image collected in real time, it can be determined whether there is an obstruction that blocks the field of vision of the vehicle in the first preset area.

[0074] It should be noted that the actual vehicle driving scene can be divided into two scenes: starting and normal driving after starting. Considering that in the normal driving process after starting, warnings and vehicle control can be performed based on conventional driving strategies such as honking and braking, while in the vehicle starting scene, the vehicle speed starts to accelerate from 0 and is in a low-speed driving state for a period of time. Especially for electric vehicles, when driving at a low speed, it has the characteristics of low noise, and it is difficult for pedestrians around the vehicle to find the starting state of the vehicle. Therefore, the present disclosure is mainly applied to warning control in the vehicle starting scene.

[0075] By adopting the above method, the motion state of the target object (such as a pedestrian) in the first preset area around the vehicle can be determined according to the environmental data of the vehicle's environment. In this way, the vehicle can be controlled according to the motion state to give a start warning to the target object according to a preset warning strategy. Compared with judging whether to give a start warning only by the vehicle speed, it saves power consumption and reduces environmental noise while giving a start warning more accurately, thereby better reducing the potential risk of collision between the vehicle and the target object.

[0076] Figure 2 is based on Figure 1 The illustrated embodiment shows a flow chart of another vehicle control method.

[0077] The environmental data acquired by the vehicle may include multiple frames of environmental images collected within a preset historical time period. Figure 2 As shown, step S12 includes the following sub-steps:

[0078] In step S121, image recognition is performed on each frame of the environment image to obtain first position information of the target object.

[0079] The first position information may include the pixel position of the target object on the environment image. Any preset key feature point of the target object may be used as a reference point, and the pixel position of the reference point may be used as the first position information of the target object on the environment image. Taking the target object as a pedestrian as an example, the preset key feature point may include pixel points of the pedestrian's forehead, eyes, nose and other body parts.

[0080] In step S122, the motion state of the target object is determined according to the first position information of the target object corresponding to each frame of the environment image.

[0081] It can be understood that when a pedestrian is in a moving state, the first position information corresponding to the pedestrian in different frames of the environmental images in the multiple frames collected within the preset historical time period is also different. When the pedestrian is in a stationary state, the first position information corresponding to the pedestrian in different frames of the environmental images in the multiple frames collected within the preset historical time period will not change. Based on this, this step can determine the motion state of the target object according to the first position information of the target object corresponding to each frame of the environmental images in the multiple frames of the environmental images collected within the preset historical time period.

[0082] For example, assuming that 3 frames of environmental images are collected within a preset historical time period, image recognition can be performed on each frame of environmental images in sequence according to the order of collection time. For example, based on image recognition, it is determined that the first position information corresponding to the pedestrian in the first frame of environmental image is point A, the first position information corresponding to the pedestrian in the second frame of environmental image is point B, and the first position information corresponding to the pedestrian in the third frame of environmental image is point C. In other words, the first position information corresponding to the pedestrian in different frames of environmental images is different. In this case, the motion state of the pedestrian can be determined to be a moving state. For another example, assuming that based on image recognition, it is determined that the first position information corresponding to the pedestrian in the first frame of environmental image is point A, the first position information corresponding to the pedestrian in the second frame of environmental image is point A, and the first position information corresponding to the pedestrian in the third frame of environmental image is also point A. In other words, the first position information corresponding to the pedestrian in different frames of environmental images is the same. At this time, it can be determined that the motion state of the pedestrian is a stationary state. The above example is only an example. In the actual environmental image collection scene, the number of image frames collected within the preset time period is usually much larger than 3 frames. In addition, in the process of analyzing the motion state of the target object, one frame of image may be selected every few frames for image recognition so as to obtain the motion state of the target object, which is not specifically limited in the present disclosure.

[0083] Figure 3 is based on Figure 2 The illustrated embodiment shows a flow chart of a vehicle control method.

[0084] The environmental data may also include multiple frames of radar data collected within the preset historical time period, and the radar data may include laser radar data or millimeter wave radar data.

[0085] like Figure 3 As shown, step S12 also includes the following sub-steps:

[0086] In step S123, for each frame of the radar data, second position information of the target object is determined according to the radar data.

[0087] The second position information may include point cloud position information of a target point cloud corresponding to the target object in the radar data. Similar to the first position information, any preset key feature point of the target object may be used as a reference point, and the position of the target point cloud data corresponding to the reference point may be used as the second position information.

[0088] In step S122, the motion state of the target object is determined according to the first position information corresponding to each frame of the environmental image and the second position information corresponding to each frame of the radar data.

[0089] In one possible implementation, the motion state of the target object can be first determined based on the first position information corresponding to each frame of the environmental image, and then the motion state of the target object can be determined based on the second position information corresponding to each frame of the radar data. Then, the results of the motion state of the target object determined by the two methods are fused to determine the motion state of the target object, thereby improving the accuracy of the motion state judgment.

[0090] For example, when the motion states of the target object determined by the two methods are the same, the motion states of the target object determined by the two methods can be used as the motion state of the target object. When the motion states of the target object determined by the two methods are different, the motion states of the target object determined by the two methods can be fused based on a weighted summation method to obtain the motion state of the target object.

[0091] It should be noted that the specific implementation method of determining the motion state of the target object based on the second position information corresponding to each frame of radar data can be referred to Figure 2 The specific method of determining the motion state of the target object according to the first position information of the target object corresponding to each frame of the environment image described in the corresponding embodiment will not be repeated here.

[0092] Figure 4 is based on Figure 1The embodiment shown is a flow chart of a vehicle control method, wherein the motion state includes a moving state, such as Figure 4 As shown, step S13 includes the following sub-steps:

[0093] In step S131, when the motion state is the moving state, the moving direction of the target object is acquired.

[0094] In this step, the moving direction can be determined according to the position information corresponding to the target object in each frame of environmental data. For example, taking the environmental data as an environmental image, assuming that 3 frames of environmental images are collected within a preset historical time period, after image recognition is performed on each frame of environmental images in the order of the collection time, it is determined that the first position information corresponding to the target object in the first frame of the environmental image is point A, the first position information corresponding to the target object in the second frame of the environmental image is point B, and the first position information corresponding to the target object in the third frame of the environmental image is point C. It can be understood that within the preset historical time period, the target object moves from point A to point B, and then to point C. In this way, the moving direction of the target object can be determined as point A→point B, point B→point C. This is only an example, and the present disclosure does not limit this.

[0095] In step S132, when it is determined that the moving direction of the target object intersects with the driving direction of the vehicle, the vehicle is controlled to perform a start warning according to the preset warning strategy.

[0096] That is to say, when it is identified that there is a target object in the first preset area around the vehicle and the target object is in a moving state, if it is determined that the moving direction of the target object intersects with the driving direction of the vehicle (for example, a pedestrian is approaching from the outer edge of the road toward the direction of travel of the vehicle), it can be considered that the moving trajectory of the target object may intersect with the lane where the vehicle is currently located. In this case, in order to avoid the risk of collision between the vehicle and the target object, it is necessary to promptly control the vehicle to issue a starting warning according to the preset warning strategy.

[0097] Figure 5 is based on Figure 1 The embodiment shown is a flow chart of a vehicle control method, wherein the motion state includes a stationary state, such as Figure 5 As shown, step S13 includes the following sub-steps:

[0098] In step S133, when the motion state is the static state, the target position where the target object is currently located is obtained.

[0099] The target position refers to the position of the target object in the current environment.

[0100] In a possible implementation, after performing target detection on the environment image where the target object is located, the pixel position of the target object in the environment image is determined, and then the target position can be determined according to the pixel position based on coordinate system conversion.

[0101] In step S134, when it is determined according to the target position that the target object is located in a second preset area, the vehicle is controlled to perform a start warning according to the preset warning strategy, and the second preset area includes a driving area of ​​the vehicle within a preset distance range in front of the vehicle.

[0102] Among them, the second preset area may include, for example, an area corresponding to the lane where the vehicle is currently located within a preset distance range in front of the vehicle. For example, the area of ​​the target lane within 10 meters in front of the vehicle can be used as the second preset area, and the target lane refers to the lane where the vehicle is currently located.

[0103] That is to say, when it is identified that there is a target object in the first preset area around the vehicle and the target object is stationary, if it is determined that the target object is located in the second preset area (for example, a pedestrian is stopped in the middle of the road), it can also be considered that there is a risk of collision between the target object and the vehicle. In this case, it is also necessary to promptly control the vehicle to issue a starting warning according to the preset warning strategy.

[0104] Figure 6 is based on Figure 1 The embodiment shown is a flow chart of a vehicle control method, such as Figure 6 As shown, the method further comprises the following steps:

[0105] In step S14, when it is determined that the vehicle has started, it is determined whether the target object is within the first preset area according to the environmental data.

[0106] As mentioned above, the present disclosure is mainly applied to warning control in a vehicle start-up scenario. Therefore, in this step, when it is determined that the vehicle has started, it can be determined based on environmental data whether there is a target object in the first preset area.

[0107] In the present disclosure, it can be determined whether the target object exists in the first preset area based on at least one of the environmental image, the lidar data, and the millimeter wave radar data.

[0108] For example, after performing target detection based on the environmental image, it is possible to determine whether the target object exists in the first preset area based on the detection result. It is also possible to determine whether the target object exists in the first preset area after performing data analysis based on the laser radar data and the millimeter-wave radar data, respectively. Assuming that the detection result obtained based on the environmental image and the data analysis based on the laser radar data and the millimeter-wave radar data both determine that the target object exists in the first preset area, it can be considered that the target object exists in the first preset area. Of course, in another possible implementation, when it is determined that the target object exists in the first preset area based on any one of the environmental image, the laser radar data, and the millimeter-wave radar data, it can also be considered that the target object exists in the first preset area. This is only an example, and the present disclosure is not limited to this.

[0109] In addition, in a possible implementation of this step, whether the vehicle is in the starting state can be determined in the following manner: obtain the current location information of the vehicle; when it is determined that the vehicle is at an intersection based on the location information, if a traffic light is provided at the intersection, obtain the traffic light status of the traffic light; and determine whether the vehicle has started based on the traffic light status.

[0110] Since a vehicle is usually parked or driving at a low speed when it is at an intersection, and the probability that the moving trajectory of pedestrians at the intersection intersects with the driving trajectory of the vehicle is high, the present disclosure can determine whether to turn on the start warning by judging whether the vehicle is at an intersection. Before judging whether the vehicle needs to turn on the start warning, it is necessary to first judge whether the vehicle is in a start state. In one implementation of the present disclosure, when it is determined that the vehicle is at an intersection and a traffic light is provided at the intersection, it can be determined whether the vehicle is starting based on the signal light state of the traffic light. For example, when it is determined that the signal light state of the traffic light changes from red to green, or from yellow to green, it can be determined that the vehicle is about to start.

[0111] The present disclosure can determine whether the vehicle is at an intersection and whether the intersection has a traffic light by one or more of the following methods:

[0112] Method 1: Obtain the current location information of the vehicle, and based on the map database corresponding to the high-precision map, obtain whether the location information is at an intersection and whether the intersection has a traffic light. The map database is pre-set with geographical environment data corresponding to each preset location in the high-precision map.

[0113] Method 2: Obtain the current location information of the vehicle, and determine whether the location information is at an intersection and whether the intersection has a traffic light based on the navigation map information.

[0114] Method three: obtain an environmental image of the vehicle's current location through an image acquisition device on the vehicle, perform image recognition on the environmental image, determine whether the vehicle's current location is an intersection, and whether the intersection has traffic lights.

[0115] In addition, when it is determined based on the position information that the vehicle is not at an intersection, or when it is determined based on the position information that the vehicle is at an intersection and the intersection is not equipped with the traffic light, whether the vehicle starts is determined based on the change in vehicle speed within a preset time period.

[0116] In another possible application scenario of the present disclosure, if it is determined based on any of the above methods that the vehicle is at an intersection, but there is no traffic light at the intersection, the vehicle will usually brake before the zebra crossing at the intersection according to the traffic conditions. At this time, it can be determined whether the vehicle has started based on the change in vehicle speed within a preset time period. For example, if the vehicle speed accelerates from 0 or a smaller speed (such as ≤10km / h) within the preset time period, it is determined that the vehicle is in a starting state.

[0117] In another possible application scenario of the present disclosure, if a vehicle is driving at a non-intersection, it may also temporarily stop and then start. In this case, when the vehicle starts, it is also necessary to determine whether a start warning is needed based on the motion state of the target objects around the vehicle. In this scenario, it is also possible to determine whether the vehicle starts based on the change in vehicle speed within a preset time period.

[0118] Figure 7 is based on Figure 1 The embodiment shown is a flow chart of a vehicle control method, such as Figure 7 As shown, the method further comprises the following steps:

[0119] In step S15, when it is determined that the vehicle speed is greater than or equal to a preset vehicle speed threshold, the vehicle is controlled to stop the start warning.

[0120] Among them, the preset vehicle speed threshold can be set arbitrarily according to actual needs, and the present disclosure does not limit this.

[0121] Figure 8 is a block diagram of a vehicle control device according to an exemplary embodiment. Figure 8 As shown, the device comprises:

[0122] The acquisition module 801 is configured to acquire environmental data of the environment in which the vehicle is located;

[0123] A first determination module 802 is configured to determine a motion state of the target object according to the environmental data if it is determined according to the environmental data that there is a target object in the first preset area corresponding to the vehicle;

[0124] The control module 803 is configured to control the vehicle to perform a start warning according to a preset warning strategy based on the motion state.

[0125] Optionally, the environmental data includes multiple frames of environmental images collected within a preset historical time period, and the first determination module 802 is configured to perform image recognition on each frame of the environmental image to obtain first position information of the target object; and determine the motion state of the target object based on the first position information of the target object corresponding to each frame of the environmental image.

[0126] Optionally, the environmental data also includes multiple frames of radar data collected within the preset historical time period, and the first determination module 802 is configured to determine the second position information of the target object based on each frame of the radar data; determine the motion state of the target object based on the first position information corresponding to each frame of the environmental image and the second position information corresponding to each frame of the radar data.

[0127] Optionally, the motion state includes a moving state, and the control module 803 is configured to obtain the moving direction of the target object when the motion state is the moving state; when it is determined that the moving direction of the target object intersects with the driving direction of the vehicle, control the vehicle to perform a start warning according to the preset warning strategy.

[0128] Optionally, the motion state includes a stationary state, and the control module 803 is configured to obtain the current target position of the target object when the motion state is the stationary state; when it is determined that the target object is located in a second preset area according to the target position, control the vehicle to issue a start warning according to the preset warning strategy, and the second preset area includes the driving area of ​​the vehicle within a preset distance range in front of the vehicle.

[0129] Optionally, the control module 803 is also configured to determine whether there is an obstruction blocking the vehicle's field of view in the first preset area corresponding to the vehicle based on the environmental data if the target object does not exist in the first preset area; and when it is determined that the obstruction exists in the first preset area, control the vehicle to provide a start-up warning according to the preset warning strategy.

[0130] Optionally, the first determination module 802 is further configured to determine whether the target object exists in the first preset area according to the environmental data when it is determined that the vehicle has started.

[0131] Optionally, the environmental data includes at least one of an environmental image, a lidar data, and a millimeter-wave radar data.

[0132] Optionally, Fig. 9 is based on Figure 8 The block diagram of a vehicle control device shown in the embodiment shown in FIG. Fig. 9 As shown, the device also includes:

[0133] The second determination module 804 is configured to obtain the current location information of the vehicle; when it is determined that the vehicle is at an intersection based on the location information, if a traffic light is provided at the intersection, obtain the traffic light status of the traffic light; and determine whether the vehicle has started based on the traffic light status.

[0134] Optionally, the second determination module 804 is further configured to determine whether the vehicle starts based on the change in vehicle speed within a preset time period when it is determined that the vehicle is not at an intersection based on the position information, or when it is determined that the vehicle is at an intersection based on the position information and the intersection is not equipped with the traffic light.

[0135] Optionally, the preset warning strategy includes:

[0136] controlling the vehicle to output preset audio information; and / or,

[0137] The vehicle is controlled to turn on preset lights.

[0138] Optionally, the control module 803 is further configured to control the vehicle to stop the start warning when it is determined that the vehicle speed is greater than or equal to a preset vehicle speed threshold.

[0139] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0140] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and the program instructions, when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure.

[0141] Fig.10 600 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0142] Reference Fig.10, the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.

[0143] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.

[0144] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0145] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0146] The drive system 640 may include components that provide powered motion for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0147] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652, and the processor 651 may execute instructions 653 stored in the memory 652.

[0148] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0149] The memory 652 may be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0150] In addition to the instructions 653 , the memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the memory 652 may be used by the computing platform 650 .

[0151] In the embodiment of the present disclosure, the processor 651 can execute instruction 653 to complete all or part of the steps of the above-mentioned vehicle control method.

[0152] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0153] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0154] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: Obtain environmental data of the vehicle's environment; If it is determined according to the environmental data that there is a target object in the first preset area corresponding to the vehicle, determining the motion state of the target object according to the environmental data; According to the motion state, the vehicle is controlled to perform a start warning according to a preset warning strategy.

2. The method according to claim 1, characterized in that The environmental data includes multiple frames of environmental images collected within a preset historical time period, and determining the motion state of the target object according to the environmental data includes: For each frame of the environment image, performing image recognition on the environment image to obtain first position information of the target object; The motion state of the target object is determined according to the first position information of the target object corresponding to each frame of the environment image.

3. The method according to claim 2, characterized in that The environmental data also includes multiple frames of radar data collected within the preset historical time period, and determining the motion state of the target object according to the environmental data includes: Determine second position information of the target object according to each frame of radar data; The motion state of the target object is determined according to the first position information corresponding to each frame of the environmental image and the second position information corresponding to each frame of the radar data.

4. The method according to claim 1, characterized in that The motion state includes a moving state, and controlling the vehicle to perform a start warning according to a preset warning strategy according to the motion state includes: When the motion state is the moving state, acquiring the moving direction of the target object; When it is determined that the moving direction of the target object intersects with the driving direction of the vehicle, the vehicle is controlled to perform a start warning according to the preset warning strategy.

5. The method according to claim 1, characterized in that The motion state includes a stationary state, and controlling the vehicle to perform a start warning according to a preset warning strategy according to the motion state includes: When the motion state is the static state, obtaining a target position where the target object is currently located; When it is determined according to the target position that the target object is located in a second preset area, the vehicle is controlled to perform a start warning according to the preset warning strategy, and the second preset area includes a driving area of ​​the vehicle within a preset distance range in front of the vehicle.

6. The method according to claim 1, characterized in that The method further comprises: If the target object does not exist in the first preset area corresponding to the vehicle, determining whether there is an obstruction blocking the field of view of the vehicle in the first preset area according to the environmental data; When it is determined that the obstruction exists in the first preset area, the vehicle is controlled to perform a start warning according to the preset warning strategy.

7. The method according to claim 1, characterized in that The method further comprises: When it is determined that the vehicle has started, it is determined whether the target object is within the first preset area according to the environmental data.

8. The method according to claim 7, characterized in that The environmental data includes at least one of an environmental image, a laser radar data, and a millimeter wave radar data.

9. The method according to claim 7, characterized in that: The method further comprises: Get the current location information of the vehicle; In the case where it is determined according to the position information that the vehicle is at an intersection, if a traffic light is provided at the intersection, obtaining a traffic light state of the traffic light; Determine whether the vehicle starts according to the state of the signal light.

10. The method according to claim 9, characterized in that The method further comprises: When it is determined according to the position information that the vehicle is not at an intersection, or when it is determined according to the position information that the vehicle is at an intersection and the intersection is not provided with the traffic light, whether the vehicle starts is determined according to a change in the vehicle speed within a preset time period.

11. The method according to claim 1, characterized in that: The preset warning strategy includes: controlling the vehicle to output preset audio information; and / or, The vehicle is controlled to turn on preset lights.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: When it is determined that the vehicle speed is greater than or equal to a preset vehicle speed threshold, the vehicle is controlled to stop the start warning.

13. A vehicle control device, characterized in that: include: An acquisition module is configured to acquire environmental data of an environment in which the vehicle is located; A first determination module is configured to determine a motion state of the target object according to the environmental data if it is determined according to the environmental data that there is a target object in the first preset area corresponding to the vehicle; The control module is configured to control the vehicle to perform a start warning according to a preset warning strategy based on the motion state.

14. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions to implement the steps of the method according to any one of claims 1 to 12.

15. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 12 are implemented.

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