Vehicle control method, device, vehicle and readable storage medium

Abstract

The present disclosure provides a vehicle control method, device, vehicle and readable storage medium, the method comprising: after the vehicle starts the sentinel mode, controlling the vehicle system to enter the dormant state in the memory suspend mode, and controlling the constant power supply of the vehicle to be in the running state, wherein the constant power supply is used to power the system memory of the vehicle; controlling the radar of the vehicle to detect the target environment where the vehicle is located and obtain the detection result; if the detection result shows that there is a target object around the vehicle, waking up the vehicle system. The above scheme, after starting the sentinel mode, can effectively avoid the system from being in a full-load working state continuously, and significantly reduce the power consumption of the whole vehicle.

Description

Technical Field

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

[0002] With the development of science and technology, many vehicles are equipped with sentry functions. The sentry function of a vehicle is to monitor the surrounding environment through the vehicle camera after the vehicle user leaves the vehicle, and the vehicle enters an alarm state when a threat is detected. However, in the prior art, in order to realize the sentry function, the vehicle system needs to be in a working state, which is equivalent to the system working at full load, and the energy consumption is high. For electric vehicles, it will affect the use time of electric vehicles. Summary of the invention

[0003] Embodiments of the present application provide a vehicle control method, device, vehicle, and readable storage medium.

[0004] In a first aspect, the present application provides a vehicle control method, comprising:

[0005] After the vehicle starts the sentinel mode, control the vehicle system to enter a dormant state in the memory suspend mode, and control the constant power supply of the vehicle to be in an operating state, wherein the constant power supply is used to power the system memory of the vehicle;

[0006] Controlling the radar of the vehicle to detect the target environment where the vehicle is located to obtain a detection result;

[0007] If the detection result indicates that there is a target object around the vehicle, the vehicle system is awakened.

[0008] Optionally, the system memory is a double rate synchronous dynamic random access memory, and after the vehicle starts the sentry mode, the method further includes:

[0009] The target operation data before the vehicle system enters the sleep state is saved in the double rate synchronous dynamic random access memory, and the double rate synchronous dynamic random access memory is controlled to enter the IO retention mode.

[0010] Optionally, the controlling the radar of the vehicle to detect the target environment in which the vehicle is located to obtain the detection result includes:

[0011] determining a distance between at least one object in the target environment and the vehicle;

[0012] If there is an object whose distance from the vehicle is less than a threshold, it is determined that the detection result is that the target object exists around the vehicle.

[0013] Optionally, after waking up the vehicle system, the method further includes:

[0014] Starting an image acquisition device of the vehicle, and determining an environmental state of the target environment based on image information acquired by the image acquisition device;

[0015] If the environmental state is an abnormal state, a reminder message is generated;

[0016] If the environmental state is normal, the vehicle system is controlled to enter the dormant state in the memory suspend mode again.

[0017] Optionally, determining the environmental state of the target environment based on the image information collected by the image collection device includes:

[0018] Identify multiple frames of image information continuously acquired by the image acquisition device to obtain an identification result corresponding to each frame of image information;

[0019] Determine the existence time of the target object within the preset range based on the recognition result corresponding to each frame of image information;

[0020] If the target object exists within the preset range for a period longer than a preset period, it is determined that the environmental state is an abnormal state.

[0021] Optionally, waking up the vehicle system comprises:

[0022] The target operation data is read from the system memory, and the target operation data is executed.

[0023] Optionally, the radar is a parking assistance radar and / or an automatic parking radar of the vehicle.

[0024] In a second aspect, the present application provides a vehicle control device, comprising:

[0025] A first control module, used for controlling the vehicle system to enter a dormant state in a memory suspend mode after the vehicle starts the sentinel mode, and controlling the constant power supply of the vehicle to be in an operating state, wherein the constant power supply is used to supply power to the system memory of the vehicle;

[0026] A second control module is used to control the radar of the vehicle to detect the target environment where the vehicle is located and obtain a detection result;

[0027] The wake-up module is used to wake up the vehicle system when the detection result indicates that there is a target object around the vehicle.

[0028] In a third aspect, the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned vehicle control method when executing the program.

[0029] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-mentioned vehicle control method when executed by a processor.

[0030] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0031] The vehicle control method provided in the embodiment of the present application controls the vehicle system to enter a dormant state in a memory suspend mode after the vehicle starts the sentinel mode, and controls the vehicle's constant power supply to be in an operating state, wherein the constant power supply is used to power the vehicle's system memory; controls the vehicle's radar to detect the target environment in which the vehicle is located and obtains a detection result; if the detection result shows that there is a target object around the vehicle, wakes up the vehicle system. In the above scheme, after starting the sentinel mode, the system enters a dormant state and performs environmental detection through the radar, maintains low-power operation when the radar does not detect the target object, and wakes up the system when the target object is detected, which can effectively prevent the system from being continuously in a full-load working state and effectively reduce power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A flow chart of a vehicle control method provided in an embodiment of this specification;

[0033] Figure 2 A schematic diagram of the operating state of a vehicle system after the sentry mode provided in the embodiment of this specification is turned on;

[0034] Figure 3 A schematic diagram of the detection range of a vehicle radar provided in an embodiment of this specification;

[0035] Figure 4 A schematic diagram of the detection range of a surround-view camera in a vehicle panoramic monitoring imaging system provided in an embodiment of this specification;

[0036] Figure 5 A flow chart of a vehicle control method provided in an embodiment of this specification;

[0037] Figure 6 A schematic diagram of a vehicle control device provided in an embodiment of this specification;

[0038] Figure 7 A schematic diagram of a vehicle provided in an embodiment of this specification. DETAILED DESCRIPTION

[0039] In order to better understand the above technical scheme, the technical scheme of the embodiments of this specification is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of this specification, rather than limitations on the technical scheme of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0040] First of all, it should be noted that the term "and / or" appearing in this article is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the front and back associated objects are in an "or" relationship. The terms "multiple" and "at least two" include two or more than two. The terms "first", "second", "third", etc. are only used as labels, and are not restrictions on the number of their objects and the order of their relationship. The terms "front", "back", "upper", "lower", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0041] like Figure 1 As shown, it is a flow chart of a vehicle control method provided in an embodiment of this specification, and the method comprises the following steps:

[0042] Step S101: After the vehicle starts the sentry mode, control the vehicle system to enter a dormant state in the memory suspend mode, and control the constant power supply of the vehicle to be in an operating state, wherein the constant power supply is used to power the system memory of the vehicle;

[0043] Step S102: controlling the radar of the vehicle to detect the target environment where the vehicle is located to obtain a detection result;

[0044] Step S103: If the detection result indicates that there is a target object around the vehicle, wake up the vehicle system.

[0045] The method provided in the embodiments of this specification can be applied to vehicles, such as electric vehicles, hybrid vehicles, etc., where multiple radars are installed on the vehicle and the vehicle provides a sentry mode.

[0046] In step S101, the activation of the sentry mode can be achieved in a variety of ways. In some embodiments, the user can select to activate the sentry mode through the central control screen or the physical button on the vehicle, or activate the sentry mode through voice control, and the vehicle automatically enters the sentry mode after it is parked. In other embodiments, the user can also select to activate the sentry mode through the vehicle control interface on the user terminal, and send a control command corresponding to activating the sentry mode to the vehicle through the terminal to activate the sentry mode.

[0047] In order to reduce the power consumption of the vehicle system, in the embodiment of this specification, after the sentinel mode is turned on, the vehicle system (System on Chip, SOC) enters the STR (Suspend to Ram) mode. After the system enters the STR mode, the system's operating data will be saved in the memory. After the system is restarted, the data can be directly read from the memory to restore to the state before the system was suspended, thereby achieving a fast startup of the system.

[0048] In some embodiments, the system memory may be a double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR). Then, after the system enters the memory suspend mode, the following steps may be performed: saving the target running data before the vehicle system enters the sleep state to the double data rate synchronous dynamic random access memory, and controlling the double data rate synchronous dynamic random access memory to enter the IO retention mode.

[0049] The target operation data may include, but is not limited to, the status information of the vehicle system before entering the sleep state, the information of the running program, etc. After detecting that the vehicle enters the STR mode, the target operation data is saved to the DDR. At the same time, the DDR can maintain IO control through the IOretention mode, so that the DDR is continuously in the self-refresh state. In this way, when the system is woken up again, the system can skip the self-check process and directly read the target operation data from the DDR, so that the system can quickly restore to the state before the sleep state.

[0050] In the embodiment of this specification, after the vehicle starts the sentry mode, only the constant power supply is kept for power supply, and other power supplies are in the off state, wherein the constant power supply can be an RTC power supply. Figure 2 As shown in the figure, the vehicle system is in operation after the Sentry Mode is turned on. Figure 2As shown, the control system of the vehicle may include PMIC (Power Management IC), MCU (Micro Controller Unit), DDR, SOC, RTC power supply, Eth Switch (Ethernet switch), T-box (Telematic BOX, intelligent vehicle terminal), surround view camera, ultrasonic radar, USB or other storage devices. In the prior art, after the sentinel mode is started, the above components are all in operation, while in the embodiment of this specification, after the sentinel mode is started, SOC, Eth Switch, surround view camera, USB or other storage devices are all in shutdown state ( Figure 2 The gray part in the figure is the component in the off state), and the RTC power supply is used to power other components. Compared with the prior art, the solution provided in the embodiment of this specification can greatly reduce the power consumption of the vehicle in the sentry mode.

[0051] In step S102, when the vehicle is in sentry mode, the target environment in which the vehicle is located can be monitored by the vehicle's radar. In some embodiments, the vehicle's radar can be a parking assist radar and / or an automatic parking radar. Figure 3 The figure shows a schematic diagram of the detection range of a vehicle radar.

[0052] When the radar detects the presence of a target object in the target environment, it indicates that there is a suspicious object in the target environment, and the vehicle system can be awakened through step S103. When the radar detects that there is no target object in the target environment, it indicates that the target environment is relatively safe, and the vehicle system can be kept in a low-power sleep state.

[0053] Detecting whether there is a target object in a target environment by radar can be achieved in a variety of ways. In some embodiments, the target object can be determined by the following steps: determining the distance between at least one object in the target environment and the vehicle; if there is an object whose distance to the vehicle is less than a threshold, determining that the detection result is that the target object exists around the vehicle.

[0054] Specifically, when the radar detects that an object has entered the range where the vehicle body is located, it can be determined that there is a target object in the target environment, wherein the threshold used to determine the range where the vehicle body is located can be set according to actual needs, for example, the threshold can be set to 1m, 1.5m, etc., which is not limited here. Taking the threshold of 1m as an example, the range where the vehicle body is located is the range 1m away from the vehicle body, and the radar detects the area corresponding to the range. If the distance between the detected object and the vehicle is less than the threshold, it is considered that an object has entered the range where the vehicle body is located. At this time, in order to ensure the safety of the vehicle, all objects within the range where the vehicle body is located can be regarded as target objects.

[0055] It should be noted that, since the radar detects the area in real time, the target object can be determined by the detection data of the radar at multiple consecutive moments. In some embodiments, if the radar detection data at multiple consecutive moments indicate that a new object has appeared in the range where the vehicle body is located, that is, it did not appear in the range where the vehicle body is located before but now appears, it is considered that an object is close to the vehicle body, and the object close to the vehicle body can be used as the target object.

[0056] Taking into account that some objects only briefly pass by the vehicle body and do not stay near the vehicle body for a long time, in order to reduce the number of wake-up times of the vehicle system and reduce the vehicle's power consumption, in some embodiments, objects whose distance from the vehicle is less than a threshold can be first identified by radar, and these objects can be used as candidate objects. The radar is then used to determine the length of time each candidate object stays within the range of the vehicle body. When there is a candidate object whose stay time is greater than the preset stay time, the candidate object may pose a threat to the vehicle and the candidate object can be used as a target object.

[0057] Step S103: When the target object is detected, the vehicle system may be awakened to ensure vehicle safety. Figure 2 Taking the vehicle control system in as an example, when a target object exists, the MCU can generate a wake-up signal and wake up the SOC based on the wake-up signal.

[0058] In some embodiments, waking up the vehicle system can be achieved by the following steps: reading the target operation data from the system memory and running the target operation data. As described above, the vehicle system can directly read the target operation data from the memory to achieve rapid waking up of the system. After the system is awakened, the vehicle's sound and light system can be used to warn the approaching target object, and a warning message can also be displayed on the central control screen.

[0059] In the embodiment of the present specification, after waking up the system, the following steps can also be performed: starting the image acquisition device of the vehicle, and determining the environmental state of the target environment based on the image information acquired by the image acquisition device; if the environmental state is an abnormal state, generating a reminder message; if the environmental state is a normal state, controlling the vehicle system to enter the sleep state in the memory suspend mode again.

[0060] Specifically, after the radar detects the target object, in order to further determine whether the target object poses a threat to the vehicle, the vehicle's image acquisition device can be activated. Figure 2 For example, when the target object is detected, the vehicle's surround view camera can be activated, such as Figure 4 As shown in FIG. 1 , a schematic diagram of the detection range of a surround view camera in a vehicle panoramic monitoring imaging system is shown. Figure 4As shown, the vehicle's surround camera can cover a 360-degree range around the vehicle. After the surround camera is started, it starts to record and store the impact information of the target environment where the vehicle is located. At the same time, the image information collected by the surround camera is processed to determine whether there is any abnormality in the environmental state of the target environment.

[0061] The environmental state of the target environment can be determined in a variety of ways. In some embodiments, the environmental state can be determined by the following steps: identifying multiple frames of image information continuously acquired by the image acquisition device to obtain an identification result corresponding to each frame of image information; based on the identification result corresponding to each frame of image information, determining the existence time of the target object within a preset range; if the existence time of the target object within the preset range is greater than the preset time, determining that the environmental state is an abnormal state.

[0062] Specifically, by identifying the image information collected in each frame, one or more target objects contained in the image information can be identified. By comparing the target objects contained in each frame, the same target objects contained in multiple frames can be screened out. For these same target objects existing in multiple frames, the duration of the continuous appearance of each target object can be determined. If the duration is greater than the preset duration, that is, the target object exists within the preset range for longer than the preset time, then there may be a threat to the vehicle. At this time, the environmental state can be determined as an abnormal state.

[0063] In other embodiments, the vehicle may record the facial information of the user. For example, if the vehicle is a family vehicle, the facial information of the family members may be recorded for use in the vehicle's personnel recognition function. Then, after screening out the target objects whose existence time within the preset range is greater than the preset time, the screened target objects may be matched with the facial information of the recorded family members. If all the target objects are determined to be family members, the environmental state is normal. If one or more target objects are non-family members, the environmental state is determined to be abnormal.

[0064] In other embodiments, in order to accurately determine the environmental state of the target environment, the behavior of the target object in the multi-frame image information can be predicted based on the collected multi-frame image information. For example, the behavior of the target object can be predicted by identifying the posture or action of the target object, or the multi-frame image information can be processed through a pre-trained behavior prediction model. If it is identified that the behavior of one or more target objects poses a threat to the vehicle, the environmental state is determined to be an abnormal state.

[0065] In the embodiments of this specification, when the environmental state of the target environment is abnormal, a reminder message can be generated, and the reminder message can be an audio-visual message, for example, a warning is issued by flashing lights, honking a horn, etc. Alternatively, the reminder message can be a warning message displayed on the central control screen, that is, when the environmental state is abnormal, the central control screen is lit, and a warning message is displayed on the central control screen. A reminder message can also be sent to the user's terminal device to remind the user that the current vehicle environment is in an abnormal state. When the environmental state of the target environment is normal, the vehicle can be controlled to enter the sleep state in the memory suspend mode again to reduce power consumption.

[0066] In order to better understand the vehicle control method provided in the embodiments of this specification, the following Figure 2 Taking the system provided as an example, the process of the vehicle control method is explained. Please refer to the flowchart Figure 5 , specifically including the following steps.

[0067] Step S501: The vehicle starts the sentry mode;

[0068] Step S502: SOC saves the scene and enters STR mode;

[0069] Step S503: The radar detects the range of the vehicle body;

[0070] Step S504: Based on the radar detection result, determine whether there is a suspicious target entering the vehicle body range; if so, execute step S505; if not, return to step S503;

[0071] Step S505: MCU generates a wake-up signal to wake up the SOC;

[0072] Step S506: SOC exits STR mode and completes initialization;

[0073] Step S507: the SOC controls the surround view camera to save the collected data to a storage unit and issues a warning;

[0074] Step S508: Whether the suspicious target leaves the vehicle body range; if so, return to step S502, if not, return to step S507.

[0075] To sum up, the solution provided in the embodiments of this specification is that after the vehicle starts the sentry mode, the system enters a memory suspended sleep state and uses radar for environmental detection to minimize the overall power consumption of the vehicle while ensuring that the vehicle system can be quickly awakened to ensure response speed.

[0076] Based on the same inventive concept, an embodiment of the present invention provides a vehicle control device, such as Figure 6 As shown, the device comprises:

[0077] The first control module 601 is used to control the vehicle system to enter a dormant state in a memory suspend mode after the vehicle starts the sentinel mode, and to control the constant power supply of the vehicle to be in an operating state, wherein the constant power supply is used to power the system memory of the vehicle;

[0078] The second control module 602 is used to control the radar of the vehicle to detect the target environment where the vehicle is located and obtain a detection result;

[0079] The wake-up module 603 is used to wake up the vehicle system when the detection result indicates that there is a target object around the vehicle.

[0080] In some implementations, the system memory is a double rate synchronous dynamic random access memory, and the device further comprises:

[0081] The third control module is used to save the target operation data before the vehicle system enters the sleep state to the double rate synchronous dynamic random access memory, and control the double rate synchronous dynamic random access memory to enter the IO retention mode.

[0082] In some implementations, the second control module 602 is configured to:

[0083] determining a distance between at least one object in the target environment and the vehicle;

[0084] If there is an object whose distance from the vehicle is less than a threshold, it is determined that the detection result is that the target object exists around the vehicle.

[0085] In some embodiments, the device further comprises:

[0086] A first processing module, configured to start an image acquisition device of the vehicle and determine an environmental state of the target environment based on image information acquired by the image acquisition device;

[0087] A second processing module, used for generating a reminder message when the environmental state is abnormal;

[0088] The third processing module is used to control the vehicle system to enter the dormant state in the memory suspend mode again when the environmental state is normal.

[0089] In some embodiments, the first processing module is used to:

[0090] Identify multiple frames of image information continuously acquired by the image acquisition device to obtain an identification result corresponding to each frame of image information;

[0091] Determine the existence time of the target object within the preset range based on the recognition result corresponding to each frame of image information;

[0092] If the target object exists within the preset range for a period longer than a preset period, it is determined that the environmental state is an abnormal state.

[0093] In some implementations, the wake-up module 603 is configured to:

[0094] The target operation data is read from the system memory, and the target operation data is executed.

[0095] In some embodiments, the radar is a parking assistance radar and / or an automatic parking radar of the vehicle.

[0096] Regarding the above-mentioned device, the specific functions of each part thereof have been described in detail in the vehicle control method provided in the embodiment of this specification, and will not be elaborated here.

[0097] Based on the same inventive concept, an embodiment of the present invention provides a vehicle, referring to Figure 7 As shown, it includes: a memory 704, a processor 702, and a computer program stored in the memory 704 and executable on the processor 702. When the processor 702 executes the program, any one of the above-mentioned vehicle control method embodiments is implemented.

[0098] Among them, Figure 7 In the embodiment of the present invention, a bus architecture (represented by bus 700) is shown, which may include any number of interconnected buses and bridges, and bus 700 links various circuits including one or more processors represented by processor 702 and memory represented by memory 704. Bus 700 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 705 provides an interface between bus 700 and receiver 701 and transmitter 703. Receiver 701 and transmitter 703 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 702 is responsible for managing bus 700 and general processing, while memory 704 may be used to store data used by processor 702 when performing operations.

[0099] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into a unit.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 units or modules, which can be electrical or other forms.

[0101] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0102] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0103] It should be noted that the above embodiments illustrate the present disclosure rather than limit the present disclosure, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present disclosure may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer.

[0104] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0105] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: After the vehicle starts the sentinel mode, control the vehicle system to enter a dormant state in the memory suspend mode, and control the constant power supply of the vehicle to be in an operating state, wherein the constant power supply is used to power the system memory of the vehicle; Controlling the radar of the vehicle to detect the target environment where the vehicle is located to obtain a detection result; If the detection result indicates that there is a target object around the vehicle, the vehicle system is awakened.

2. The method according to claim 1, characterized in that The system memory is a double rate synchronous dynamic random access memory. After the vehicle starts the sentry mode, the method further includes: The target operation data before the vehicle system enters the sleep state is saved in the double rate synchronous dynamic random access memory, and the double rate synchronous dynamic random access memory is controlled to enter the IO retention mode.

3. The method according to claim 1, characterized in that The radar controlling the vehicle detects the target environment where the vehicle is located and obtains a detection result, including: determining a distance between at least one object in the target environment and the vehicle; If there is an object whose distance from the vehicle is less than a threshold, it is determined that the detection result is that the target object exists around the vehicle.

4. The method according to claim 1, characterized in that After waking up the vehicle system, the method further includes: Starting an image acquisition device of the vehicle, and determining an environmental state of the target environment based on image information acquired by the image acquisition device; If the environmental state is an abnormal state, a reminder message is generated; If the environmental state is normal, the vehicle system is controlled to enter the dormant state in the memory suspend mode again.

5. The method according to claim 4, characterized in that The determining the environmental state of the target environment based on the image information collected by the image collection device includes: Identify multiple frames of image information continuously acquired by the image acquisition device to obtain an identification result corresponding to each frame of image information; Determine the existence time of the target object within the preset range based on the recognition result corresponding to each frame of image information; If the target object exists within the preset range for a period longer than a preset period, it is determined that the environmental state is an abnormal state.

6. The method according to claim 2, characterized in that The waking up the vehicle system comprises: The target operation data is read from the system memory, and the target operation data is executed.

7. The method according to any one of claims 1 to 6, characterized in that: The radar is a parking assistance radar and / or an automatic parking radar of the vehicle.

8. A vehicle control device, characterized in that: include: A first control module, used for controlling the vehicle system to enter a dormant state in a memory suspend mode after the vehicle starts the sentinel mode, and controlling the constant power supply of the vehicle to be in an operating state, wherein the constant power supply is used to supply power to the system memory of the vehicle; A second control module is used to control the radar of the vehicle to detect the target environment where the vehicle is located and obtain a detection result; The wake-up module is used to wake up the vehicle system when the detection result indicates that there is a target object around the vehicle.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 7 when executing the program.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images