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

Abstract

This application relates to a vehicle control method, apparatus, computer equipment, storage medium, and computer program product. The method includes: obtaining a camera field of view image captured by a camera of a vehicle to be controlled; determining the current alarm level corresponding to the vehicle to be controlled based on the current alarm zone of an object in the camera field of view; determining the output voltage of a digital-to-analog converter corresponding to the vehicle to be controlled based on the current alarm level, the current gear position information of the vehicle to be controlled, and the current electronic pedal output voltage; and performing corresponding control processing on the vehicle to be controlled based on the digital-to-analog converter output voltage. This method can improve vehicle driving safety.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a vehicle control method, apparatus, 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 a timely manner is crucial.

[0003] In traditional technology, in the process of controlling a vehicle, an audible and visual alarm method is generally adopted; however, this method makes it difficult to control the vehicle in a timely manner, resulting in low vehicle driving safety. 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] Obtain the camera field of view image captured by the camera of the vehicle to be controlled;

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

[0008] Determining a 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;

[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 based on 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 based on the vehicle control decision information and the current electronic pedal output voltage includes:

[0014] In a case where the vehicle control decision information is deceleration decision information, determining a 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, performing corresponding control processing on 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 based on 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, performing corresponding control processing on the vehicle to be controlled according to the control output signal includes:

[0021] determining an 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;

[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 based on 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 output voltage of the digital-to-analog converter is used as the updated output voltage.

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

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

[0029] a level determination module, configured to determine a current alarm level corresponding to the vehicle to be controlled based on a current alarm area where an object in the camera's field of view is located; the camera's field of view includes a plurality of alarm areas;

[0030] a voltage determination module, configured to determine a 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;

[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 comprising 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] Obtain the camera field of view image captured by the camera of the vehicle to be controlled;

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

[0035] Determining a 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;

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

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

[0040] Determining a 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;

[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, comprising a computer program, which, when executed by a processor, implements the following steps:

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

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

[0045] Determining a 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;

[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, apparatus, computer device, storage medium, and computer program product described above first obtain a camera field of view image captured by a camera of a vehicle to be controlled, and determine a current alarm level corresponding to the vehicle to be controlled based on the current alarm area where an object is located in the camera field of view image, which includes multiple alarm areas. Then, based on the current alarm level, the current gear information of the vehicle to be controlled, and the current electronic pedal output voltage, determine a digital-to-analog converter output voltage corresponding to the vehicle to be controlled. Finally, based on the digital-to-analog converter output voltage, the vehicle to be controlled is controlled accordingly. Thus, during the vehicle control process, by determining the current alarm level corresponding to the vehicle to be controlled based on the current alarm area where an 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. Based on the digital-to-analog converter output voltage, dynamic adjustments to vehicle control can be made more quickly, which is beneficial to improving vehicle driving safety. Furthermore, the entire process allows for real-time vehicle control, which is beneficial to improving the timeliness of vehicle control and thereby improving vehicle driving safety. 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 following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. 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 any creative work.

[0049] Figure 1 1 is a flow chart of a vehicle control method according to an embodiment;

[0050] Figure 2 is a structural diagram of a vehicle control method in one embodiment;

[0051] Figure 3 A schematic structural diagram 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 according to another embodiment;

[0055] Figure 7 is a structural diagram of a vehicle control method in yet another embodiment;

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

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

[0058] Figure 10 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this 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 understood that the method can also be applied to a terminal, or to a system including a terminal and a server, and implemented through interaction between the terminal and the server. The terminal can be, but is not limited to, various personal computers, laptops, smartphones, 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: Acquire a camera field image captured by a camera of a 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 contains 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] Here, 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 indicates 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 represent the electronic pedal output voltage corresponding to the vehicle to be controlled at the current time.

[0076] In traditional technology, when controlling a vehicle (such as an electric tricycle or electric forklift, etc.), the 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 depressed to the maximum depth, it will output a full-scale voltage, where 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 requires manual depression of the electronic pedal to achieve this, and it is difficult to control the vehicle in a timely manner, resulting in lower vehicle driving safety. Therefore, the present application provides a vehicle control method, such as Figure 3As shown, the camera field of view image 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 image is located; the camera field of view image 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 subjected to corresponding control processing, which can solve the problem of vehicle driving safety and achieve the effect of improving vehicle driving safety.

[0077] The DAC output voltage represents an analog voltage value derived from information such as the current alarm level, the vehicle's current gear position, and the current electronic pedal output voltage. In practical scenarios, the DAC output voltage 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, and obtains 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, a camera field of view image captured by a camera of a vehicle to be controlled is first obtained, and a current alarm level corresponding to the vehicle to be controlled is determined based on the current alarm area where an object is located in the camera field of view image, which includes multiple alarm areas. Then, a digital-to-analog converter output voltage corresponding to the vehicle to be controlled is determined based on the current alarm level, the current gear information of the vehicle to be controlled, and the current electronic pedal output voltage. Finally, a corresponding control process is performed on the vehicle to be controlled based on the digital-to-analog converter output voltage. In this way, during 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. Based on the digital-to-analog converter output voltage, dynamic adjustment of vehicle control can be made more quickly, which is conducive to improving vehicle driving safety. Moreover, the entire process can realize real-time vehicle control, which is conducive to improving the timeliness of vehicle control and thereby improving vehicle driving safety.

[0082] In an exemplary embodiment, the above-mentioned step S103 determines the output voltage of the digital-to-analog converter 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 output voltage of the digital-to-analog converter corresponding to the vehicle to be controlled based on the vehicle control decision information and the current electronic pedal output voltage.

[0083] The vehicle control decision information includes at least 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 based on 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 represents 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 based on 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 targeted responses to 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 represent 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 pre-set 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 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 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, current distance information, current electronic pedal output voltage and preset output voltage, based on the preset operation rules, obtains the output voltage value corresponding to the current speed information, current distance information, current electronic pedal output voltage and 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 conducive to avoiding the occurrence of collision accidents.

[0092] In an exemplary embodiment, the above step S104 performs corresponding control processing on the vehicle to be controlled based on the output voltage of the digital-to-analog converter, specifically including the following contents: determining the control output signal corresponding to the vehicle to be controlled based on the current electronic pedal output voltage and the output voltage of the digital-to-analog converter; and performing corresponding control processing on the vehicle to be controlled based on 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. For example, 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, refer to Figure 4 The protection circuit on the vehicle to be controlled includes a subtraction circuit and a hysteresis comparator circuit. The subtraction circuit's resistors (R11, R12, R13, and R14) and comparator (U1A) perform differential amplification on the DAC output voltage and the electronic pedal output voltage, generating the output voltage to be analyzed (V1). The hysteresis comparator circuit's reference voltage is determined by the supply voltage (VCC, Voltage Common Collector) and resistors (R31 and R32). The hysteresis comparator circuit's resistors (R21 and R22) perform differential amplification on the output voltage to be analyzed and the reference voltage, generating 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 enhance driving safety and comfort.

[0096] In an exemplary embodiment, corresponding control processing is performed on the vehicle to be controlled based on the control output signal, specifically including the following contents: determining the updated output voltage of the vehicle to be controlled based on the control output signal, the current electronic pedal output voltage and the output voltage of the digital-to-analog converter; and performing corresponding control processing on the vehicle to be controlled based on 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 based on the signal type of the control output signal; then, the server determines the speed and torque of the engine equipped on the vehicle to be controlled based on the updated output voltage; then, the server determines the corresponding output power of the vehicle to be controlled based on the speed and torque of the engine equipped on 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.

[0099] In this embodiment, the updated output voltage is determined based on the control output signal and combined 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 traditional 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 vehicle control stability.

[0104] The protection circuit in this application is implemented in the following way: Figure 4 As shown in the figure, the DAC output voltage and the electronic pedal output voltage are differentially amplified to obtain the output voltage to be analyzed. The comparison threshold corresponding to the output voltage to be analyzed is then determined based on the reference voltage and resistor value in the hysteresis comparator circuit. Based on the comparison threshold between the output voltage to be analyzed and the output voltage to be analyzed, the corresponding control output signal is determined to be high or low. For example, when the supply voltage VCC = 5V, R31 = 39k ohms, and R32 = 11k ohms, the reference voltage Vref is 1.1V. When the positive supply voltage is 5V and the negative supply voltage is 0V, if R22 = 13*R21, two comparison thresholds are obtained: 1.18V and 0.80V. When V1 exceeds 1.18V, the corresponding control output signal is high and switches to the current electronic pedal output voltage. Switching to the DAC output voltage occurs only when V1 is less than 0.80V; fluctuations between 0.80V and 1.18V do 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 the 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 the 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 rapid 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 application of the method to a server as an example, and includes the following steps:

[0108] Step S601: Acquire 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 based on the current alarm level and the current gear information.

[0111] Step S604, when the vehicle control decision information is deceleration decision information, the output voltage of the digital-to-analog converter corresponding to the vehicle to be controlled is determined based on the current electronic pedal output voltage and the preset deceleration ratio; or, when the vehicle control decision information is braking decision information, the output voltage of the digital-to-analog converter corresponding to the vehicle to be controlled is determined 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 entire process can control the vehicle in real time, 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 using a specific embodiment. In one 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 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 based on the current alarm area where the object is located in the camera field of view including multiple alarm areas. Then, based on the current alarm level, 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 is determined. 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, which divides the alarm area 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 an instruction 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-to-digital converter (ADC) to obtain the vehicle's current gear information, 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, and they can also be mixed:

[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, performs calculations 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 has been 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, which may cause safety problems.

[0124] The voltage comparison in the protection circuit can use a simple comparator 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. This circuit may cause frequent switching.

[0125] To ensure switching only when necessary, a suitable margin can be set in practice to accommodate the circuit's ADC and DAC errors, such as 0.1V. This will not affect performance and will also avoid frequent switching within the critical range. To achieve this, the following circuit is used: a two-stage op amp circuit: the first stage is a subtraction circuit, and the second stage is a hysteresis comparator circuit. When the control output circuit is high, it switches to the DAC output voltage; when it is low, it switches to the electronic pedal voltage.

[0126] In the first-stage subtraction circuit, when R11=R12 and R13=R14, the output voltage V1=R13 / R11*(DAC output voltage-electronic pedal output voltage); if appropriate values ​​are taken, for example, R11=R12=20k ohms and R13=R14=200k ohms, 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 to not exceed the electronic pedal output voltage by 0.1V, the post-stage comparator limits the output voltage V1 of the subtraction circuit to no more than 1V to maintain control of the DAC output, and jumps to the output of the electronic pedal if it exceeds 1V.

[0127] The second stage is the hysteresis comparator circuit. The hysteresis parameters are determined by R21 and R22, and the reference voltage Vref for comparison is determined by R31 and R32. 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 supply voltage VCC = 5V, R31 = 39k ohms, and R32 = 11k ohms, the reference voltage Vref is 1.1V. If the op amp circuit's supply voltage is 5V at the positive terminal and 0V at the negative terminal, and R22 = 13*R21, two comparison thresholds are obtained: 1.18V and 0.80V. When V1 exceeds 1.18V, the electronic pedal output is switched to and maintained. Only when V1 falls below 0.80V does it switch back to the DAC output; fluctuations between 0.80V and 1.18V do 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 vehicle control, 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. 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. Based on the digital-to-analog converter output voltage, dynamic adjustments to vehicle control can be made more quickly, thereby improving vehicle driving safety. Furthermore, the entire process allows for real-time vehicle control, which helps improve the timeliness of vehicle control and, in turn, enhances vehicle driving safety. Furthermore, since electronic pedals are widely used in existing electric vehicles, this access method has wide adaptability, enabling simple modification to directly output braking / deceleration control upon hazard detection, thereby enhancing driving safety. Furthermore, the inclusion of a 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 various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed 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 portion of steps or stages in other steps.

[0132] Based on the same inventive concept, embodiments of the present application further provide a vehicle control device for implementing the aforementioned vehicle control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle control device embodiments provided below can be found in the above-described limitations of the vehicle control method and will not be further elaborated here.

[0133] In an exemplary embodiment, Figure 9 As shown, a vehicle control device is provided, comprising: 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 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 based on 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 further used to determine a 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 to use the digital-to-analog converter output voltage as the updated output voltage when the control output signal is a second logic level.

[0143] Each module in the aforementioned vehicle control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within a computer device in the form of hardware, or may be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of 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. Figure 10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. 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 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 Figure 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 shown in the figure, or combine certain components, or have a different component arrangement.

[0146] In an exemplary embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above 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. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0149] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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 above-mentioned embodiments. In particular, any reference to memory, database, or other media 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), magnetic 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. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0150] The technical features of the above embodiments can 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 merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtain the camera field of view image captured by the camera of the vehicle to be controlled; Determining a current alarm level corresponding to the vehicle to be controlled according to a current alarm area where an object in the camera field of view is located; the camera field of view includes multiple alarm areas; Determining vehicle control decision information for the vehicle to be controlled based on the current alarm level and the current gear information of the vehicle to be controlled; determining a 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 of the vehicle to be controlled; The current electronic pedal output voltage and the digital-to-analog converter output voltage are differentially amplified by the resistor and comparator in the subtraction circuit of the protection circuit carried by the vehicle to be controlled to obtain the output voltage to be analyzed; the reference voltage in the hysteresis comparison circuit is determined by the power supply voltage, resistor R31 and resistor R32 in the hysteresis comparison circuit of the protection circuit, and the output voltage to be analyzed and the reference voltage are differentially amplified by the resistor R21 and resistor R22 in the hysteresis comparison circuit to obtain a control output signal; 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 current electronic pedal output voltage is used 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 digital-to-analog converter output voltage is used as the updated output voltage; and according to the updated output voltage, the vehicle to be controlled is subjected to corresponding control processing.

2. The method according to claim 1, characterized in that The step of determining a 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 of the vehicle to be controlled includes: In a case where the vehicle control decision information is deceleration decision information, determining a 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.

3. The method according to claim 1, characterized in that The camera of the vehicle to be controlled refers to a camera installed within a preset range of the vehicle to be controlled.

4. The method according to claim 1, wherein 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.

5. The method according to claim 1, wherein The current alarm level is used to indicate the alarm level of the vehicle to be controlled at the current time.

6. A vehicle control device, characterized in that: The device comprises: The image acquisition module is used to obtain the camera field of view image captured by the camera of the vehicle to be controlled; a level determination module, configured to determine a current alarm level corresponding to the vehicle to be controlled based on a current alarm area where an object in the camera's field of view is located; the camera's field of view includes a plurality of alarm areas; a voltage determination module, configured to determine vehicle control decision information of the vehicle to be controlled based on the current alarm level and the current gear information of the vehicle to be controlled; and determine a 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 of the vehicle to be controlled; A vehicle control module is configured to perform differential amplification processing on the current electronic pedal output voltage and the digital-to-analog converter output voltage through the resistor and comparator in the subtraction circuit of the protection circuit carried by the vehicle to be controlled to obtain the output voltage to be analyzed; determine the reference voltage in the hysteresis comparison circuit through the power supply voltage, resistor R31 and resistor R32 in the hysteresis comparison circuit of the protection circuit, and perform differential amplification processing on the output voltage to be analyzed and the reference voltage through the resistor R21 and resistor R22 in the hysteresis comparison circuit to obtain a control output signal; when the control output signal is a high-level signal and the output voltage to be analyzed is greater than a first comparison threshold, use 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, use the digital-to-analog converter output voltage as the updated output voltage; and perform corresponding control processing on the vehicle to be controlled based on the updated output voltage.

7. The device according to claim 6, characterized in that The voltage determination module is further 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.

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 5 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 5 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 5 are implemented.

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