Vehicle control method and device, computer equipment, storage medium and computer program product

Abstract

The invention relates to a vehicle control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a camera view field picture shot by a camera of a to-be-controlled vehicle; determining a current alarm level corresponding to the to-be-controlled vehicle according to a current alarm area where the object is located in the camera view field picture; according to the current alarm grade, the current gear information of the to-be-controlled vehicle and the current electronic pedal output voltage, the digital-to-analog converter output voltage corresponding to the to-be-controlled vehicle is determined; and performing corresponding control processing on the to-be-controlled vehicle according to the output voltage of the digital-to-analog converter. By adopting the method, the driving safety of the vehicle can be improved.

Description

Technical Field

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

[0002] At present, in order to ensure the driving safety of the vehicle, how to control the vehicle in time is crucial.

[0003] In traditional technology, in the process of controlling the vehicle, the sound and light warning method is generally used; however, this method makes it difficult to control the vehicle in a timely manner, resulting in low driving safety of the vehicle. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle control method, device, computer equipment, computer-readable storage medium and computer program product that can improve the driving safety of the vehicle in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle control method, comprising:

[0006] Obtaining the camera field of view image captured by the camera of the vehicle to be controlled;

[0007] Determine the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object is located in the camera field of view; the camera field of view includes multiple alarm areas;

[0008] Determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage;

[0009] According to the output voltage of the digital-to-analog converter, corresponding control processing is performed on the vehicle to be controlled.

[0010] In one embodiment, determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled, and the current electronic pedal output voltage includes:

[0011] Determining vehicle control decision information of the vehicle to be controlled according to the current alarm level and the current gear information;

[0012] The digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined according to the vehicle control decision information and the current electronic pedal output voltage.

[0013] In one embodiment, determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the vehicle control decision information and the current electronic pedal output voltage includes:

[0014] In the case where the vehicle control decision information is deceleration decision information, determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current electronic pedal output voltage and a preset deceleration ratio;

[0015] or,

[0016] In a case where the vehicle control decision information is brake decision information, the digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined according to the current electronic pedal output voltage and a preset output voltage.

[0017] In one embodiment, the corresponding control processing of the vehicle to be controlled according to the output voltage of the digital-to-analog converter includes:

[0018] Determining a control output signal corresponding to the vehicle to be controlled according to the current electronic pedal output voltage and the digital-to-analog converter output voltage;

[0019] According to the control output signal, corresponding control processing is performed on the vehicle to be controlled.

[0020] In one embodiment, the corresponding control processing is performed on the vehicle to be controlled according to the control output signal, including:

[0021] Determining an updated output voltage of the vehicle to be controlled according to the control output signal, the current electronic pedal output voltage and the digital-to-analog converter output voltage;

[0022] According to the updated output voltage, corresponding control processing is performed on the vehicle to be controlled.

[0023] In one embodiment, determining the updated output voltage of the vehicle to be controlled according to the control output signal, the current electronic pedal output voltage and the digital-to-analog converter output voltage includes:

[0024] When the control output signal is at a first logic level, using the current electronic pedal output voltage as the updated output voltage;

[0025] or,

[0026] When the control output signal is at the second logic level, the digital-to-analog converter output voltage is used as the updated output voltage.

[0027] In a second aspect, the present application also provides a vehicle control device, comprising:

[0028] The image acquisition module is used to acquire the camera field of view image captured by the camera of the vehicle to be controlled;

[0029] A level determination module, used to determine the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object in the camera field of view is located; the camera field of view includes multiple alarm areas;

[0030] A voltage determination module, used to determine the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage;

[0031] The vehicle control module is used to perform corresponding control processing on the vehicle to be controlled according to the output voltage of the digital-to-analog converter.

[0032] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] Obtaining the camera field of view image captured by the camera of the vehicle to be controlled;

[0034] Determine the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object is located in the camera field of view; the camera field of view includes multiple alarm areas;

[0035] Determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage;

[0036] According to the output voltage of the digital-to-analog converter, corresponding control processing is performed on the vehicle to be controlled.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0038] Obtaining the camera field of view image captured by the camera of the vehicle to be controlled;

[0039] Determine the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object is located in the camera field of view; the camera field of view includes multiple alarm areas;

[0040] Determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage;

[0041] According to the output voltage of the digital-to-analog converter, corresponding control processing is performed on the vehicle to be controlled.

[0042] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0043] Obtaining the camera field of view image captured by the camera of the vehicle to be controlled;

[0044] Determine the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object is located in the camera field of view; the camera field of view includes multiple alarm areas;

[0045] Determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage;

[0046] According to the output voltage of the digital-to-analog converter, corresponding control processing is performed on the vehicle to be controlled.

[0047] The vehicle control method, device, computer equipment, storage medium and computer program product first obtain the camera field of view image captured by the camera of the vehicle to be controlled, and determine the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object is located in the camera field of view image including multiple alarm areas, and then determine the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage, and finally, perform corresponding control processing on the vehicle to be controlled according to the digital-to-analog converter output voltage. In this way, in the process of controlling the vehicle, by determining the current alarm level corresponding to the vehicle to be controlled based on the current alarm area where the object is located in the camera field of view image captured by the camera of the vehicle to be controlled, and combining the current gear information of the vehicle to be controlled and the current electronic pedal output voltage, the digital-to-analog converter output voltage corresponding to the vehicle to be controlled can be determined more quickly, and according to the digital-to-analog converter output voltage, the vehicle control can be dynamically adjusted more quickly, which is conducive to improving the driving safety of the vehicle; moreover, the whole process can control the vehicle in real time, which is conducive to improving the timeliness of vehicle control, thereby improving the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic flow chart of a vehicle control method in one embodiment;

[0050] Figure 2 A schematic diagram of the structure of a vehicle control method in one embodiment;

[0051] Figure 3 A schematic diagram of the structure of a vehicle control method in another embodiment;

[0052] Figure 4 A schematic diagram of determining a control output signal in one embodiment;

[0053] Figure 5 A schematic diagram of determining a control output signal in another embodiment;

[0054] Figure 6 is a flow chart of a vehicle control method in another embodiment;

[0055] Figure 7 A schematic diagram of the structure of a vehicle control method in another embodiment;

[0056] Figure 8 is a flow chart of a vehicle control method in yet another embodiment;

[0057] Fig. 9 is a structural block diagram of a vehicle control device in one embodiment;

[0058] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0060] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0061] In an exemplary embodiment, Figure 1 As shown, a vehicle control method is provided. This embodiment uses the method applied to a server as an example for illustration. It is understandable that the method can also be applied to a terminal, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. The terminal can be, but is not limited to, various personal computers, laptops, smart phones, and tablet computers; the server can be implemented as an independent server or a server cluster consisting of multiple servers. In this embodiment, the method includes the following steps:

[0062] Step S101, obtaining a camera field of view image captured by a camera of the vehicle to be controlled.

[0063] The vehicle to be controlled refers to a vehicle that needs to be controlled.

[0064] The camera of the vehicle to be controlled refers to a camera installed within a preset range of the vehicle to be controlled. In actual scenarios, the camera of the vehicle to be controlled refers to a camera installed around the vehicle to be controlled.

[0065] The camera field of view image is used to represent the image area captured by the camera of the vehicle to be controlled and containing the vehicle's surrounding environment information.

[0066] Exemplarily, the server selects a candidate camera that matches the application scenario information of the vehicle to be controlled from the candidate cameras as the camera of the vehicle to be controlled; then, the server obtains the camera field of view image captured by the camera of the vehicle to be controlled through the camera of the vehicle to be controlled.

[0067] Step S102, determining the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object is located in the camera field of view; the camera field of view includes multiple alarm areas.

[0068] The object refers to pedestrians.

[0069] The current alarm area is used to indicate the alarm area where the object in the camera field of view is located at the current time.

[0070] The current alarm level is used to indicate the alarm level of the vehicle to be controlled at the current time. In actual scenarios, the current alarm level includes at least level 1 (low danger level) and level 2 (high danger level).

[0071] The camera field of view includes multiple alarm areas. In actual scenarios, the camera field of view includes at least a level 1 alarm area and a level 2 alarm area.

[0072] Exemplarily, the server queries the correspondence between alarm areas and alarm levels based on the current alarm area where the object is located in the camera field of view that includes multiple alarm areas, and obtains the alarm level corresponding to the current alarm area where the object is located in the camera field of view as the current alarm level corresponding to the vehicle to be controlled.

[0073] Step S103, determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage.

[0074] The current gear information is used to indicate the gear information of the vehicle to be controlled at the current time, such as forward gear and reverse gear.

[0075] The current electronic pedal output voltage is used to indicate the electronic pedal output voltage of the vehicle to be controlled corresponding to the current time.

[0076] In traditional technology, in the process of controlling a vehicle (such as an electric tricycle or an electric forklift, etc.), an electronic pedal output voltage is generally used for control. Figure 2 As shown, the speed is controlled by using an electronic pedal. When the electronic pedal is in the released state, it will output a signal close to 0V, and when it is pressed to the maximum depth, it will output a full-scale voltage, wherein the full-scale voltage is generally close to 5V. The electronic pedal signal acquisition end of the on-board ECU (Electronic Control Unit) controls the power output by collecting the electronic pedal voltage signal, thereby controlling the vehicle speed. Among them, a voltage close to 0V corresponds to the lowest power output (i.e., no power output, or braking during movement, or energy recovery state), and the full-scale voltage corresponds to the maximum voltage output. However, this method needs to be achieved by manually stepping on the electronic pedal, which makes it difficult to control the vehicle in a timely manner, resulting in lower driving safety of the vehicle. Therefore, the present application provides a vehicle control method, such as Figure 3As shown, the camera field of view picture captured by the camera of the vehicle to be controlled is obtained, and the current alarm level corresponding to the vehicle to be controlled is determined according to the current alarm area where the object in the camera field of view picture is located; the camera field of view picture includes multiple alarm areas, and the digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage. According to the output voltage of the digital-to-analog converter, the vehicle to be controlled is controlled accordingly, which can solve the problem of vehicle driving safety and achieve the effect of improving the vehicle driving safety.

[0077] The output voltage of the digital-to-analog converter is used to represent the analog voltage value obtained by integrating the current alarm level, the current gear information of the vehicle, and the current electronic pedal output voltage. In actual scenarios, the output voltage of the digital-to-analog converter is also called the DAC (Digital-to-Analog Converter) output voltage.

[0078] Exemplarily, the server constructs a correspondence between the alarm level, gear information and electronic pedal output voltage, and queries the correspondence based on the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage, to obtain the output voltage corresponding to the current alarm level, the current gear information and the current electronic pedal output voltage as the digital-to-analog converter output voltage corresponding to the vehicle to be controlled.

[0079] Step S104, performing corresponding control processing on the vehicle to be controlled according to the output voltage of the digital-to-analog converter.

[0080] Exemplarily, the server determines the speed and torque of the engine of the vehicle to be controlled based on the output voltage of the digital-to-analog converter; then, the server determines the corresponding output power of the vehicle to be controlled based on the speed and torque of the engine of the vehicle to be controlled; then, the server performs corresponding control processing on the vehicle to be controlled based on the corresponding output power of the vehicle to be controlled.

[0081] In the above vehicle control method, the camera field of view image captured by the camera of the vehicle to be controlled is first obtained, and the current alarm level corresponding to the vehicle to be controlled is determined according to the current alarm area where the object is located in the camera field of view image including multiple alarm areas, and then the digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage, and finally, the vehicle to be controlled is subjected to corresponding control processing according to the digital-to-analog converter output voltage. In this way, in the process of controlling the vehicle, the current alarm level corresponding to the vehicle to be controlled is determined based on the current alarm area where the object is located in the camera field of view image captured by the camera of the vehicle to be controlled, and the digital-to-analog converter output voltage corresponding to the vehicle to be controlled can be determined more quickly in combination with the current gear information of the vehicle to be controlled and the current electronic pedal output voltage, and the dynamic adjustment of the vehicle control can be made more quickly according to the digital-to-analog converter output voltage, which is conducive to improving the driving safety of the vehicle; moreover, the whole process can control the vehicle in real time, which is conducive to improving the timeliness of vehicle control, thereby improving the driving safety of the vehicle.

[0082] In an exemplary embodiment, the above step S103 determines the digital-to-analog converter output voltage corresponding to the vehicle to be controlled based on the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage, and specifically includes the following contents: determining the vehicle control decision information of the vehicle to be controlled based on the current alarm level and the current gear information; determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled based on the vehicle control decision information and the current electronic pedal output voltage.

[0083] Among them, the vehicle control decision information at least includes deceleration decision information and braking decision information.

[0084] Exemplarily, the server determines the vehicle control decision information corresponding to the current alarm level and the current gear information according to the current alarm level and the current gear information, as the vehicle control decision information of the vehicle to be controlled; for example, when the current alarm level is level 1 and the current gear information is the forward gear, the vehicle control decision information of the vehicle to be controlled is the deceleration decision information; when the current alarm level is level 2 and the current gear information is the forward gear, the vehicle control decision information of the vehicle to be controlled is the braking decision information; when the current alarm level is level 1 and the current gear information is the reverse gear, the vehicle control decision information of the vehicle to be controlled is the maintenance decision information (assuming that the camera field of view captured by the camera of the vehicle to be controlled is represented as the environmental information in front of the vehicle); then, the server determines the output voltage value corresponding to the vehicle control decision information and the current electronic pedal output voltage according to the vehicle control decision information and the current electronic pedal output voltage, as the digital-to-analog converter output voltage corresponding to the vehicle to be controlled.

[0085] In this embodiment, by determining the vehicle control decision information based on the current alarm level, the vehicle can make a targeted response to the potential dangers in the surrounding environment, and combined with the current electronic pedal output voltage, the driver's driving intention and actual danger situation are comprehensively considered, thereby making the vehicle power output more accurately adapt to the actual situation of the current vehicle.

[0086] In an exemplary embodiment, the digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined based on the vehicle control decision information and the current electronic pedal output voltage, specifically including the following contents: when the vehicle control decision information is deceleration decision information, the digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined based on the current electronic pedal output voltage and a preset deceleration ratio; or, when the vehicle control decision information is braking decision information, the digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined based on the current electronic pedal output voltage and a preset output voltage.

[0087] The preset deceleration ratio is used to indicate a specified deceleration ratio, such as 80%. It should be noted that the preset deceleration ratio depends on the situation.

[0088] The preset output voltage refers to a preset output voltage value. It should be noted that the preset output voltage depends on the situation.

[0089] Exemplarily, when the vehicle control decision information is deceleration decision information, the server multiplies the current electronic pedal output voltage and the preset deceleration ratio to obtain the multiplied output voltage, which serves as the digital-to-analog converter output voltage corresponding to the vehicle to be controlled; or, when the vehicle control decision information is braking decision information, the server fuses the current electronic pedal output voltage and the preset output voltage to obtain the fused output voltage, which serves as the digital-to-analog converter output voltage corresponding to the vehicle to be controlled.

[0090] Furthermore, in the case where the vehicle control decision information is braking decision information, the server obtains the current speed information corresponding to the vehicle to be controlled, and the current distance information between the vehicle and the object, and according to the current speed information, the current distance information, the current electronic pedal output voltage and the preset output voltage, based on the preset operation rules, obtains the output voltage value corresponding to the current speed information, the current distance information, the current electronic pedal output voltage and the preset output voltage as the digital-to-analog converter output voltage corresponding to the vehicle to be controlled.

[0091] In this embodiment, by using different vehicle control decision information, the corresponding digital-to-analog converter output voltage can be determined in different ways, and then a more matching vehicle control strategy can be determined according to the different driving conditions and requirements faced by the vehicle, which is helpful to avoid the occurrence of collision accidents.

[0092] In an exemplary embodiment, the above step S104, according to the output voltage of the digital-to-analog converter, performs corresponding control processing on the vehicle to be controlled, specifically including the following contents: determining the control output signal corresponding to the vehicle to be controlled according to the current electronic pedal output voltage and the output voltage of the digital-to-analog converter; performing corresponding control processing on the vehicle to be controlled according to the control output signal.

[0093] Among them, the control output signal is used to represent the output signal value obtained by integrating the current electronic pedal output voltage and the digital-to-analog converter output voltage. In actual scenarios, the control output signal refers to a high-level signal or a low-level signal. Exemplarily, the server inputs the current electronic pedal output voltage and the digital-to-analog converter output voltage into the protection circuit installed on the vehicle to be controlled. Through the protection circuit, based on the current electronic pedal output voltage and the digital-to-analog converter output voltage, the output signal value corresponding to the current electronic pedal output voltage and the digital-to-analog converter output voltage is determined as the control output signal corresponding to the vehicle to be controlled; then, the server performs corresponding control processing on the vehicle to be controlled according to the control output signal.

[0094] For example, see Figure 4 The protection circuit of the vehicle to be controlled includes a subtraction circuit and a hysteresis comparison circuit. Through the resistors (R11, R12, R13 and R14) and the comparator (U1A) in the subtraction circuit, the DAC output voltage and the electronic pedal output voltage are differentially amplified to obtain the output voltage to be analyzed (V1); through the power supply voltage (VCC, Voltage Common Collector) and resistors (R31, R32) in the hysteresis comparison circuit, the reference voltage in the hysteresis comparison circuit is determined, and through the resistors (R21, R22) in the hysteresis comparison circuit, the output voltage to be analyzed and the reference voltage are differentially amplified to obtain the control output signal. It should be noted that the reference voltage can also be generated by a voltage reference chip.

[0095] In this embodiment, by comprehensively considering the two key factors of the current electronic pedal output voltage and the digital-to-analog converter output voltage, the corresponding control output signal can be determined more comprehensively, thereby making the vehicle control more precise, thereby improving the vehicle control accuracy, and helping to improve driving safety and comfort.

[0096] In an exemplary embodiment, corresponding control processing is performed on the vehicle to be controlled according to the control output signal, specifically including the following contents: determining the updated output voltage of the vehicle to be controlled according to the control output signal, the current electronic pedal output voltage and the digital-to-analog converter output voltage; performing corresponding control processing on the vehicle to be controlled according to the updated output voltage.

[0097] The updated output voltage is used to represent the output voltage value obtained by integrating the control output signal, the current electronic pedal output voltage and the digital-to-analog converter output voltage.

[0098] Exemplarily, the server determines the signal type of the control output signal; then, the server determines the updated output voltage of the vehicle to be controlled from the current electronic pedal output voltage and the digital-to-analog converter output voltage according to the signal type of the control output signal; then, the server determines the speed and torque of the engine equipped with the vehicle to be controlled according to the updated output voltage; then, the server determines the corresponding output power of the vehicle to be controlled according to the speed and torque of the engine equipped with the vehicle to be controlled; then, the server performs corresponding control processing on the vehicle to be controlled according to the corresponding output power of the vehicle to be controlled.

[0099] In this embodiment, the updated output voltage is determined based on the control output signal and in combination with the current electronic pedal output voltage and the digital-to-analog converter output voltage, that is, multiple key factors are comprehensively considered, so that the updated output voltage can more accurately adapt to the actual needs of the vehicle, achieve more precise control, avoid excessive or insufficient control, and help improve the accuracy of vehicle control.

[0100] In an exemplary embodiment, the above step S105 determines the updated output voltage of the vehicle to be controlled based on the control output signal, the current electronic pedal output voltage and the digital-to-analog converter output voltage, and specifically includes the following contents: when the control output signal is a first logic level, the current electronic pedal output voltage is used as the updated output voltage; or, when the control output signal is a second logic level, the digital-to-analog converter output voltage is used as the updated output voltage.

[0101] The first logic level refers to a high level signal.

[0102] The second logic level refers to a low level signal.

[0103] In the conventional technology, in the process of determining the control output signal of the vehicle, a simple comparator circuit is generally used, such as Figure 5 When the control output signal is high, it switches to the DAC output voltage, and when the control output signal is low, it switches to the electronic pedal output voltage. This circuit may cause frequent switching, resulting in low stability of vehicle control.

[0104] The protection circuit in this application is implemented in the following manner: Figure 4 As shown. By performing differential amplification processing on the DAC output voltage and the electronic pedal output voltage, the output voltage to be analyzed is obtained, and then the comparison threshold corresponding to the output voltage to be analyzed is determined according to the reference voltage and the resistance value in the hysteresis comparison circuit, and the corresponding control output signal is determined to be a high level signal or a low level signal according to the output voltage to be analyzed and the comparison threshold corresponding to the output voltage to be analyzed. For example, when the power supply voltage VCC=5V, R31=39k ohms, and R32=11k ohms, the reference voltage Vref is 1.1V. When the positive pole of the power supply voltage is 5V and the negative pole is 0V, if R22=13*R21, two comparison thresholds are obtained, namely 1.18V and 0.80V. When V1 exceeds 1.18V, the corresponding control output signal is a high level signal, and then it is switched to the current electronic pedal output voltage. Only when V1 is less than 0.80V, it is switched to the DAC output voltage; fluctuations between 0.80V and 1.18V will not cause voltage switching.

[0105] Exemplarily, when the control output signal is a high-level signal and the output voltage to be analyzed is greater than a first comparison threshold, the server uses the current electronic pedal output voltage as the updated output voltage; when the control output signal is a low-level signal and the output voltage to be analyzed is less than a second comparison threshold, the server uses the digital-to-analog converter output voltage as the updated output voltage.

[0106] In this embodiment, by selecting different voltages as the updated output voltage under different signal states, the vehicle control system can perform quick processing, thereby avoiding dangerous situations caused by excessive operation of the electronic pedal by the driver, which is beneficial to ensuring the safety of vehicle driving.

[0107] In an exemplary embodiment, Figure 6 As shown, another vehicle control method is provided, which is described by taking the method applied to a server as an example, and includes the following steps:

[0108] Step S601, obtaining a camera field of view image captured by a camera of the vehicle to be controlled.

[0109] Step S602, determining the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object is located in the camera field of view; the camera field of view includes multiple alarm areas.

[0110] Step S603, determining vehicle control decision information of the vehicle to be controlled according to the current alarm level and the current gear information.

[0111] Step S604, when the vehicle control decision information is deceleration decision information, determine the digital-to-analog converter output voltage corresponding to the vehicle to be controlled based on the current electronic pedal output voltage and the preset deceleration ratio; or, when the vehicle control decision information is braking decision information, determine the digital-to-analog converter output voltage corresponding to the vehicle to be controlled based on the current electronic pedal output voltage and the preset output voltage.

[0112] Step S605, determining a control output signal corresponding to the vehicle to be controlled according to the current electronic pedal output voltage and the digital-to-analog converter output voltage.

[0113] Step S606, when the control output signal is at the first logic level, the current electronic pedal output voltage is used as the updated output voltage; or, when the control output signal is at the second logic level, the digital-to-analog converter output voltage is used as the updated output voltage.

[0114] Step S607: performing corresponding control processing on the vehicle to be controlled according to the updated output voltage.

[0115] In the above-mentioned vehicle control method, in the process of controlling the vehicle, the current alarm level corresponding to the vehicle to be controlled is determined based on the current alarm area where the object is located in the camera field of view captured by the camera of the vehicle to be controlled, and combined with the current gear information of the vehicle to be controlled and the current electronic pedal output voltage, the digital-to-analog converter output voltage corresponding to the vehicle to be controlled can be determined more quickly, and based on the digital-to-analog converter output voltage, the control output signal corresponding to the vehicle to be controlled can be determined more quickly, and then the dynamic adjustment of the vehicle control can be made more quickly, which is beneficial to improving the driving safety of the vehicle; moreover, the vehicle can be controlled in real time throughout the entire process, which is beneficial to improving the timeliness of vehicle control, thereby improving the driving safety of the vehicle.

[0116] In an exemplary embodiment, in order to more clearly illustrate the vehicle control method provided by the embodiment of the present application, the vehicle control method is specifically described below with a specific embodiment. Figure 7 and Figure 8 As shown, the present application also provides a vehicle collision avoidance method and device. In the process of controlling the vehicle, the camera field of view image captured by the camera of the vehicle to be controlled is first obtained, and the current alarm level corresponding to the vehicle to be controlled is determined according to the current alarm area where the object is located in the camera field of view image including multiple alarm areas, and then the digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage. Finally, according to the digital-to-analog converter output voltage, the vehicle to be controlled is controlled accordingly. Specifically, it includes the following contents:

[0117] Cameras are installed around the vehicle body, and the camera's field of view covers the required alarm area.

[0118] The camera's signal is output to the pedestrian recognition module, and the alarm area is divided in the camera's field of view. The pedestrian recognition module sends the pedestrian recognition results in the alarm area to the braking / deceleration decision module. The braking / deceleration decision module also obtains the current gear information from the acquisition module. When a pedestrian appears in the alarm area associated with the current gear, it issues instructions to the braking / deceleration execution module according to the alarm level to perform deceleration or braking operations respectively.

[0119] The acquisition module collects the voltage of the electronic pedal using an analog ADC (Analog-to-Digital Converter) to obtain the current gear information of the vehicle, and sends it to at least one of the braking / deceleration decision module and / or the braking / deceleration execution module.

[0120] There are several ways to slow down or stop the vehicle, or you can use a combination of them:

[0121] 1. The brake / deceleration decision module specifies the deceleration ratio. The brake / deceleration execution module obtains the electronic pedal voltage signal from the acquisition module and outputs the corresponding DAC value according to the ratio.

[0122] 2. The brake / deceleration decision module specifies the DAC value. The brake / deceleration decision module obtains the electronic pedal voltage signal from the acquisition module, calculates according to the settings, and sends the DAC value to the brake / deceleration execution module. The brake / deceleration execution module outputs the DAC value according to the instruction;

[0123] An output voltage protection circuit is added to ensure that the output voltage is not greater than the output voltage of the electronic pedal within a certain error range; this ensures that the driver's deceleration operation can be executed first, avoiding the violation of the brake priority principle due to errors in decision-making or other links such as DAC, causing safety problems.

[0124] The voltage comparison in the protection circuit can use a simple comparator circuit to control the output circuit to switch to the DAC output voltage when it is high and switch to the electronic pedal voltage when it is low. This circuit may cause frequent switching.

[0125] In order to make the switching happen only when necessary, a suitable range of margin can be limited in actual use to adapt to the error of the circuit ADC and DAC, such as 0.1V, etc., which will not affect the performance and avoid frequent switching within the critical range. For this purpose, the following circuit is used, which consists of a two-stage op amp circuit, the first stage is a subtraction circuit, and the second stage is a hysteresis comparison circuit; when the control output circuit is high, it switches to the DAC output voltage, and when it is low, it switches to the electronic pedal voltage.

[0126] In the first-stage subtraction circuit, when R11=R12, R13=R14, the output voltage V1=R13 / R11*(DAC output voltage-electronic pedal output voltage); take appropriate values, for example, R11=R12=20k ohms, R13=R14=200k ohms, then the output voltage is 10 times the difference between the DAC output voltage and the electronic pedal; in this way, if the DAC output voltage is limited not to exceed the electronic pedal output voltage by 0.1V, the output voltage V1 of the subtraction circuit is limited by the post-stage comparator to maintain the control of the DAC output when it does not exceed 1V, and jumps to the output of the electronic pedal if it exceeds 1V.

[0127] The second stage is a hysteresis comparator circuit, in which R21 and R22 determine the hysteresis parameters, and R31 and R32 determine the reference voltage Vref for comparison. The purpose of the hysteresis comparator is to prevent repeated switching near the critical value and ensure the stability of switching.

[0128] For example, when the power supply voltage VCC = 5V, R31 = 39k ohms, R32 = 11k ohms, the reference voltage Vref is 1.1V. When the positive pole of the power supply voltage of the op amp circuit is 5V and the negative pole is 0V, if R22 = 13*R21, two comparison thresholds are obtained, 1.18V and 0.80V. When V1 exceeds 1.18V, the output of the electronic pedal is switched and maintained, and only when V1 is less than 0.80V, it is switched back to the DAC output; fluctuations between 0.80V and 1.18V will not cause switching.

[0129] As known in the art, Vref can also be generated by other means, such as a voltage reference chip.

[0130] In the above embodiment, during the process of controlling the vehicle, the current alarm level corresponding to the vehicle to be controlled is determined based on the current alarm area where the object is located in the camera field of view captured by the camera of the vehicle to be controlled, and the current gear information of the vehicle to be controlled and the current electronic pedal output voltage are combined to more quickly determine the output voltage of the digital-to-analog converter corresponding to the vehicle to be controlled, and according to the output voltage of the digital-to-analog converter, the dynamic adjustment of the vehicle control can be more quickly, which is conducive to improving the driving safety of the vehicle; moreover, the whole process can control the vehicle in real time, which is conducive to improving the timeliness of vehicle control, thereby improving the driving safety of the vehicle. At the same time, since the electronic pedal is widely used in existing electric vehicles, this access method has a wide range of adaptability, and a simple modification can be achieved to directly output the brake / deceleration control after the danger is detected, thereby enhancing the driving safety; moreover, the addition of the comparison circuit protection circuit ensures the principle of brake priority.

[0131] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0132] Based on the same inventive concept, the embodiment of the present application also provides a vehicle control device for implementing the vehicle control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle control device embodiments provided below can refer to the limitations on the vehicle control method above, and will not be repeated here.

[0133] In an exemplary embodiment, Fig. 9 As shown, a vehicle control device is provided, including: a picture acquisition module 901, a level determination module 902, a voltage determination module 90 and a vehicle control module 904, wherein:

[0134] The image acquisition module 901 is used to acquire the camera field of view image captured by the camera of the vehicle to be controlled.

[0135] The level determination module 902 is used to determine the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object is located in the camera field of view; the camera field of view includes multiple alarm areas.

[0136] The voltage determination module 903 is used to determine the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage.

[0137] The vehicle control module 904 is used to perform corresponding control processing on the vehicle to be controlled according to the output voltage of the digital-to-analog converter.

[0138] In an exemplary embodiment, the voltage determination module 903 is also used to determine the vehicle control decision information of the vehicle to be controlled based on the current alarm level and the current gear information; and determine the digital-to-analog converter output voltage corresponding to the vehicle to be controlled based on the vehicle control decision information and the current electronic pedal output voltage.

[0139] In an exemplary embodiment, the voltage determination module 903 is also used to determine the digital-to-analog converter output voltage corresponding to the vehicle to be controlled based on the current electronic pedal output voltage and the preset deceleration ratio when the vehicle control decision information is deceleration decision information; or, when the vehicle control decision information is braking decision information, determine the digital-to-analog converter output voltage corresponding to the vehicle to be controlled based on the current electronic pedal output voltage and the preset output voltage.

[0140] In an exemplary embodiment, the vehicle control module 904 is also used to determine the control output signal corresponding to the vehicle to be controlled based on the current electronic pedal output voltage and the digital-to-analog converter output voltage; and perform corresponding control processing on the vehicle to be controlled based on the control output signal.

[0141] In an exemplary embodiment, the vehicle control module 904 is also used to determine the updated output voltage of the vehicle to be controlled based on the control output signal, the current electronic pedal output voltage and the digital-to-analog converter output voltage; and perform corresponding control processing on the vehicle to be controlled based on the updated output voltage.

[0142] In an exemplary embodiment, the vehicle control module 905 is also used to use the current electronic pedal output voltage as the updated output voltage when the control output signal is a first logic level; or, when the control output signal is a second logic level, use the digital-to-analog converter output voltage as the updated output voltage.

[0143] Each module in the above vehicle control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0144] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig.10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as current gear information and current electronic pedal output voltage. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle control method is implemented.

[0145] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0146] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0147] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0148] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0149] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0150] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtaining the camera field of view image captured by the camera of the vehicle to be controlled; Determine the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object is located in the camera field of view; the camera field of view includes multiple alarm areas; Determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage; According to the output voltage of the digital-to-analog converter, corresponding control processing is performed on the vehicle to be controlled.

2. The method according to claim 1, characterized in that The step of determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled, and the current electronic pedal output voltage includes: Determining vehicle control decision information of the vehicle to be controlled according to the current alarm level and the current gear information; The digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined according to the vehicle control decision information and the current electronic pedal output voltage.

3. The method according to claim 2, characterized in that The step of determining the output voltage of a digital-to-analog converter corresponding to the vehicle to be controlled according to the vehicle control decision information and the current electronic pedal output voltage includes: In the case where the vehicle control decision information is deceleration decision information, determining the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current electronic pedal output voltage and a preset deceleration ratio; or, In a case where the vehicle control decision information is brake decision information, the digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined according to the current electronic pedal output voltage and a preset output voltage.

4. The method according to claim 1, characterized in that: The performing corresponding control processing on the vehicle to be controlled according to the output voltage of the digital-to-analog converter includes: Determining a control output signal corresponding to the vehicle to be controlled according to the current electronic pedal output voltage and the digital-to-analog converter output voltage; According to the control output signal, corresponding control processing is performed on the vehicle to be controlled.

5. The method according to claim 4, characterized in that The step of performing corresponding control processing on the vehicle to be controlled according to the control output signal comprises: Determining an updated output voltage of the vehicle to be controlled according to the control output signal, the current electronic pedal output voltage and the digital-to-analog converter output voltage; According to the updated output voltage, corresponding control processing is performed on the vehicle to be controlled.

6. The method according to claim 5, characterized in that The step of determining the updated output voltage of the vehicle to be controlled according to the control output signal, the current electronic pedal output voltage and the digital-to-analog converter output voltage comprises: When the control output signal is at a first logic level, using the current electronic pedal output voltage as the updated output voltage; or, When the control output signal is at the second logic level, the digital-to-analog converter output voltage is used as the updated output voltage.

7. A vehicle control device, characterized in that: The device comprises: The image acquisition module is used to acquire the camera field of view image captured by the camera of the vehicle to be controlled; A level determination module, used to determine the current alarm level corresponding to the vehicle to be controlled according to the current alarm area where the object in the camera field of view is located; the camera field of view includes multiple alarm areas; A voltage determination module, used to determine the digital-to-analog converter output voltage corresponding to the vehicle to be controlled according to the current alarm level, the current gear information of the vehicle to be controlled and the current electronic pedal output voltage; The vehicle control module is used to perform corresponding control processing on the vehicle to be controlled according to the output voltage of the digital-to-analog converter.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images