Control unit, control system and control method for aided driving of vehicle

Abstract

The invention provides a control unit for aided driving of a vehicle, and the control unit comprises an obtaining module which comprises an environment information module which is configured to obtain the environment information of the environment where the vehicle is located; the acquisition module is used for acquiring environment information of a vehicle, the judgment module is used for judging whether the environment information meets the requirement for starting the vehicle or not, the acquisition module further comprises a driver information module, and the driver information module is used for acquiring state information of a driver of the vehicle and sending the state information to the judgment module. And the judgment module is further configured to judge whether the state information meets the vehicle starting requirement or not. In addition, the invention further provides a control system comprising the control unit and a corresponding control method. According to the method and the device, the starting safety and reliability of the vehicle at an intersection or in a traffic jam scene can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle assisted driving, and in particular to a control unit, a control system and a control method for vehicle assisted driving. The present application also relates to a corresponding machine-readable storage medium. Background Art

[0002] With the advancement of autonomous driving technology, more and more vehicles are equipped with Advanced Driver Assistance Systems (ADAS), which can use various sensors installed on the vehicle to collect information and predict possible dangers to ensure driving safety. For example, common functions such as automatic parking, front collision prevention, adaptive cruise control, emergency braking, lane keeping, etc. have become common configurations of existing ADAS and are also accepted and trusted by more and more drivers.

[0003] However, in some complex scenarios, the functions of ADAS are limited by the sensor acquisition capabilities, processor computing capabilities, and actuator response capabilities, and cannot be fully relied upon for autonomous driving. In particular, in the scenario of an intersection, when a vehicle is waiting for a traffic light to be released or traffic is blocked, there may be many moving objects moving in disorder in front, such as motor vehicles, pedestrians, bicycles, animals, etc., and there may also be many vehicles waiting to pass. Therefore, the scene is very complex and the road conditions are very uncertain. In this case, when the vehicle stops for a slightly longer or longer period of time (for example, 60 seconds to 300 seconds), for example, when the red light turns green or the traffic jam is relieved and needs to be restarted, ADAS needs to determine whether the surrounding environment meets the starting conditions to avoid accidents.

[0004] Although many manufacturers have developed a variety of ADAS, existing ADAS are only applicable to specific driving scenarios (e.g., closed parks, fixed routes, unobstructed highways, etc.), and cannot cope with complex intersections or traffic jams. For example, there are still some undetectable blind spots at intersections, or information interaction between vehicles and roadside is required.

[0005] Therefore, it is still impossible to provide a safe solution for assisted driving of vehicles (especially in scenarios such as intersections or traffic jams). Summary of the invention

[0006] The purpose of the present application is to provide a control unit, a control method and a control system for assisted driving of a vehicle, so as to solve the problems existing in assisted driving of a vehicle in scenarios such as intersections or traffic jams.

[0007] To this end, according to one aspect of the present application, a control unit for assisted driving of a vehicle is provided, comprising: an acquisition module, which includes an environmental information module, and the environmental information module is configured to acquire environmental information of the environment in which the vehicle is located; and a judgment module, which is configured to judge whether the environmental information meets the requirements for starting the vehicle, wherein the acquisition module also includes a driver information module, and the driver information module is configured to acquire status information of the driver of the vehicle, and the judgment module is also configured to judge whether the status information meets the requirements for starting the vehicle.

[0008] According to another aspect of the present application, a control system for assisted driving of a vehicle is provided, comprising: a control unit as described above; a perception device, which is configured to perceive environmental information of the environment in which the vehicle is located and driver information of the driver of the vehicle, and provide the environmental information and the driver information to an acquisition module of the control unit; and an execution device, which is configured to receive a signal output by the control unit and execute an action corresponding to the signal.

[0009] According to another aspect of the present application, a control method for assisted driving of a vehicle is provided, which can be optionally executed by the above-mentioned control unit or control system, and the control method includes: obtaining environmental information of the environment in which the vehicle is located; judging whether the environmental information meets the requirements for starting the vehicle; obtaining status information of the driver of the vehicle; and judging whether the status information meets the requirements for starting the vehicle.

[0010] According to another aspect of the present application, a machine-readable storage medium is provided, which stores executable instructions. When the instructions are executed by one or more processors, the above-mentioned control method is implemented.

[0011] The control unit, control system and control method for assisted driving of a vehicle disclosed in the present application can ensure the safe starting and driving of the vehicle at intersections or in traffic jams by real-time monitoring of signal lights, obstacles and other road users in the vehicle's surrounding environment, as well as real-time monitoring of the driver's status and operation, thereby improving driving safety and being easy to promote and apply. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the embodiments described below are only used to explain the present application, rather than to limit the scope of the present application. In the accompanying drawings:

[0013] Figure 1 is a schematic block diagram of a control unit for assisted driving of a vehicle according to an exemplary embodiment of the present application;

[0014] Figure 2 is a schematic block diagram of a control system for assisted driving of a vehicle according to an exemplary embodiment of the present application;

[0015] Figure 3 is a schematic flowchart of a control method for assisted driving of a vehicle according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0016] The preferred embodiments of the present application are described in detail below with reference to examples. However, it should be understood by those skilled in the art that these exemplary embodiments are not intended to limit the present application in any way. In addition, the features in the embodiments of the present application may be combined with each other in the absence of conflict. In the accompanying drawings, other components are omitted for brevity, but this does not mean that the control unit and control system for assisted driving of a vehicle of the present application may not include other modules or devices, nor does it mean that the control method for assisted driving of a vehicle of the present application may not include other steps.

[0017] It should be noted that the present application is directed to vehicles with assisted driving functions. Therefore, the vehicle may be configured with various software for receiving information, making decisions and outputting instructions (e.g., ADAS, DMS (driver monitoring system), etc.) and various hardware for sensing information about the vehicle, environment and driver (e.g., vehicle control unit, camera, millimeter wave radar, lidar, ultrasonic radar, etc.). In addition, the vehicle may also be configured with a drive device that can automatically perform starting, acceleration and braking functions according to instructions, as well as a prompt device that issues prompt information, etc. The control unit and control system for assisted driving of the vehicle proposed in the present application can be integrated with the various software mentioned above and can be implemented using the various hardware mentioned above, but the present application is not limited thereto, but can also be implemented by separately designed software or hardware or a combination thereof.

[0018] Refer to the following Figure 1 To describe the control unit for assisted driving of a vehicle of the present application. Figure 1As shown in the schematic block diagram of , the control unit 100 includes an acquisition module 110 and a judgment module 120, wherein the acquisition module 110 includes an environmental information module 111, and the environmental information module 111 is configured to receive environmental information of the environment in which the vehicle is located. For example, the environmental information may include a signal indicating the current state of a traffic light on the road where the vehicle is located and a signal indicating whether there is a danger of the vehicle colliding with other road users and obstacles. Based on the environmental information, it can be determined whether the current road conditions allow the vehicle to start. For example, when the traffic light is red or there are vehicles, pedestrians or obstacles ahead, the road conditions do not allow the vehicle to start. Therefore, the judgment module 120 is configured to determine whether the environmental information meets the requirements for vehicle starting. Specifically, if it is determined that the current state of the traffic light allows the vehicle to pass or there is no traffic light ahead, and there is no danger of collision with road users and obstacles ahead, it is considered that the environmental information meets the requirements for vehicle starting.

[0019] Preferably, the environmental information may include electronic navigation map information in the navigation device of the vehicle, and the signal light setting on the road where the vehicle is located can be determined through the electronic navigation map information. For example, high-precision, multi-dimensional electronic navigation map information can be used, which not only contains high-precision vehicle positioning information, but also contains other information such as road shape, road slope, curve curvature, number of lanes or speed limit values. In addition, the environmental information may also include information from a camera, information from a millimeter-wave radar, information from a laser radar and / or information from an ultrasonic radar. For example, the state of the signal light can be determined by identifying the information from the camera, and the information from the millimeter-wave radar and / or the laser radar and / or the ultrasonic radar can be used to determine whether there are other road users or obstacles around the vehicle (especially in front of the vehicle). It should be noted that the present application is not limited to the various environmental information exemplified above, but may also include more other environmental information, such as environmental information from various sensors developed in the future.

[0020] In existing assisted driving systems, the vehicle can usually be allowed to start and accelerate by judging the environmental information as described above. However, at intersections or traffic jams, especially after a long wait, the scene becomes very complicated and the uncertainty increases significantly. Therefore, relying solely on the above judgment of environmental information may not be enough to ensure the safety of vehicle starting. Therefore, the present application proposes a new and safer vehicle starting solution, especially for scenes at intersections or traffic jams.

[0021] According to an embodiment of the present application, the acquisition module 110 further includes a driver information module 112, which is configured to acquire the status information of the driver of the vehicle, and the judgment module 120 is further configured to judge whether the status information meets the requirements for starting the vehicle. Therefore, by monitoring the driver's status information, it can be ensured that the driver can pay enough attention to the start of the vehicle and can react in time when an unexpected situation occurs, thereby further improving driving safety.

[0022] Specifically, the driver's status information may include first information indicating whether the driver is sitting in the driver's seat of the vehicle. For example, at an intersection or in a traffic jam, the driver may temporarily leave the vehicle. By acquiring the first information, it can be determined that the driver is inside the vehicle, rather than outside the vehicle. Preferably, the first information may include a signal indicating that the vehicle's door is closed and a signal indicating that the vehicle's seat belt is buckled. By determining that the door is closed and the seat belt is buckled, it can be confirmed that the driver is seated.

[0023] In addition, the driver's status information may also include second information indicating whether the driver is concentrating. For example, if the driver is resting on the seat, he will not be able to respond quickly to unexpected situations that may occur when the vehicle starts. Therefore, ensuring that the driver is concentrating can further improve driving safety. Preferably, the second information may include a signal indicating that the driver is looking forward, especially looking at the road ahead. For example, the driver's attention can be monitored by the DMS. Alternatively, the second information may also include a signal indicating that the driver has closed his eyes, yawned, has abnormal head posture, etc. and has continued for a period of time.

[0024] Furthermore, the driver's status information may also include third information indicating whether the driver's hands are on the steering wheel of the vehicle. For example, the HOD (hands-on detection) system (or capacitive sensor) on the steering wheel may detect whether the driver's hands are on the steering wheel. In this way, it can be ensured that the driver can quickly operate in the event of an unexpected situation. Alternatively, the third information may also include a signal indicating the driver's behavior such as making a phone call or smoking.

[0025] It should be noted that various state information can be obtained by receiving the monitoring results of the DMS, but the present application is not limited thereto, and the control unit 100 of the present application can also obtain various state information through a separately designed module or device. In addition, the present application is not limited to the various state information of the driver exemplified above, but can also include various other state information, such as the driver's body movements, physiological parameters, etc.

[0026] In order to enable the driver to adjust the state in time during the above judgment process, the control unit 100 may also include an output module 130, which is configured to output a prompt message when the environmental information meets the requirements for the vehicle to start, and the prompt message is used to prompt the driver that the vehicle is about to start. After receiving the prompt message, the driver can adjust his own state so that the driver's state information meets the requirements for the vehicle to start. For example, the output module 130 can output audio information to call the driver to return and take a seat, or instruct the driver to adjust the position of his eyes and hands. In addition, the output module 130 can also be configured to output a start signal to the drive device of the vehicle when the driver's state information meets the requirements for the vehicle to start. Therefore, the vehicle can start at a set acceleration and acceleration rate, and drive away from an intersection or a traffic jam.

[0027] The above describes the control process of the smooth start of the vehicle in the scene of intersection or traffic jam. However, unexpected situations may occur in this process, requiring the driver to respond quickly. For example, after the vehicle has started, if the driver finds that there is a special situation or an emergency, for example, the on-duty personnel make a gesture to prohibit the vehicle from passing, the brakes must be applied immediately. Therefore, the driver information module 112 of the control unit 100 of the present application is also configured to receive the driver's operation information, and the judgment module 120 is also configured to judge whether the operation information conflicts with the start of the vehicle, and the output module 130 is also configured to output a signal to terminate the start when the operation information conflicts with the start of the vehicle.

[0028] like Figure 2 As shown in the schematic block diagram of , the control system 200 for assisted driving of a vehicle of the present application may include the control unit 100, the perception device 210 and the execution device 220 as described above. The perception device 210 is configured to perceive the environmental information of the environment in which the vehicle is located and the driver information of the driver of the vehicle, and provide the environmental information and the driver information to the acquisition module 110 of the control unit 100.

[0029] Specifically, the sensing device 210 may include the above-mentioned monitoring devices such as cameras, millimeter wave radars, laser radars and ultrasonic radars, as well as various sensors such as door closing sensors, seat belt buckle sensors and capacitive sensors on steering wheels. The execution device 220 is configured to receive the signal output by the control unit 100 and perform an action corresponding to the signal. For example, the execution device 220 may issue a call audio according to the prompt information, calling the driver to return and take a seat or voice-guide the driver to adjust the position of the eyes and hands. In addition, the execution device 220 may also actuate the throttle (or acceleration mechanism) of the vehicle to start the vehicle at a set acceleration and acceleration change rate, or actuate the brake mechanism of the vehicle to stop the vehicle from starting.

[0030] Refer to the following Figure 3The control method 300 for assisted driving of a vehicle proposed in the present application is described below. The control method 300 may be executed by the control unit 100 or the control system 200 described above. Figure 3 As shown, the control method 300 is first started at step 301. The specific starting condition may be that the vehicle stops at a red light at an intersection, or stops due to traffic congestion, and lasts for a predetermined time, such as 60 seconds. At this time, the control method 300 of the present application may be started. However, the present application may not be limited thereto. For example, if there is no concern about the computing power of the control unit 100 or the control system 200, the control method of the present application may be started as the vehicle starts.

[0031] First, at step 310, environmental information of the environment in which the vehicle is located is obtained. For example, this step may include obtaining a signal indicating the current state of a traffic light on the road where the vehicle is located and a signal indicating whether the vehicle is in danger of colliding with other road users and obstacles. Preferably, the environmental information obtained includes one or more of electronic navigation map information in the navigation device of the vehicle, information from a camera, information from a millimeter wave radar, information from a laser radar, and information from an ultrasonic radar.

[0032] Then, in step 320 (at Figure 3 In step 321, it is determined whether the current state of the traffic light on the road where the vehicle is located is a green light or there is no traffic light. If the result is "Y", that is, a green light or no traffic light, the next step 322 is executed. Otherwise, the result is "N", and the previous step 310 is returned. In step 322, it is determined whether there is a risk of collision between the vehicle and other road users and obstacles. If the result is "Y", that is, there is a risk of collision, the step 310 is returned. Otherwise, the result is "N", and the next step 330 or 340 is executed.

[0033] At step 330, a prompt message may be sent to the driver, calling the driver to return and take a seat, or voice guidance may be given to the driver to adjust the position of the eyes and hands. It should be noted that step 330 is an optional step and may be omitted without affecting the execution of the control method of the present application. Figure 3 In FIG. 3 , step 330 is shown in a dashed box.

[0034] At step 340, the state information of the driver of the vehicle is obtained. For example, this step may include obtaining first information indicating whether the driver is sitting in the driver's seat of the vehicle. Specifically, the first information may include a signal indicating that the door of the vehicle is closed and a signal indicating that the seat belt of the vehicle is buckled, and thus the first information may be obtained through a door closing sensor and a seat belt buckling sensor on the vehicle. Since the door closing sensor and the seat belt buckling sensor are generally configured on existing vehicles, they will not be described in further detail herein.

[0035] In addition, obtaining the state information of the driver of the vehicle may further include obtaining second information indicating whether the driver is concentrating. Specifically, the second information may include a signal indicating that the driver is looking forward. The signal may be obtained through the DMS. In addition, obtaining the state information of the driver of the vehicle may further include obtaining third information indicating whether the driver's hands are on the steering wheel of the vehicle. For example, the third information may be detected by a HOD system on the steering wheel.

[0036] At step 350 (at Figure 3 ), it is determined whether the driver's state information meets the requirements for vehicle starting. Specifically, at step 351, it is determined whether the driver is sitting in the driver's seat of the vehicle. If the result is "Y", that is, the driver is seated in the vehicle, then the next step 352 is executed. Otherwise, the result is "N", then step 302 is entered, that is, the start is terminated and the control process is ended. At step 352, it is determined whether the driver's attention is focused. If the result is "Y", that is, the driver is looking forward, then the next step 353 is executed. Otherwise, the result is "N", then the step 310 is returned to restart a new control process. At step 353, it is determined whether the driver's hands are on the steering wheel. If the result is "Y", that is, the driver's hands are on the steering wheel, then the next step 360 is executed. Otherwise, the result is "N", then the step 310 is returned to restart a new control process.

[0037] At step 360 , a starting signal is output to enable the vehicle to start at a predetermined acceleration and acceleration change rate.

[0038] Through the above steps, the vehicle can be started safely. However, in view of possible unexpected situations, the control method 300 of the present application may also include steps 370 and 380 to further improve the safety of driving.

[0039] At step 370, the driver's operation information is obtained, for example, feedback information from the vehicle's brake mechanism. That is, during the start-up process, if the driver steps on the brake pedal, the control unit 100 or the control system 200 of the present application can obtain this information, and then a new decision can be made. It should be noted that the driver's operation information is not limited to the above-mentioned brake information, but can also include refueling information, steering information, etc., but the present application mainly focuses on the operation information related to the start of the vehicle.

[0040] At step 380, determine whether the operation information conflicts with the vehicle start. If the result is "Y", that is, there is a conflict, for example, the driver steps on the brake pedal, then execute step 302, that is, terminate the start and end the control process. Otherwise, that is, the result is "N", return to step 360 and continue the start process.

[0041] It should be noted that the control method of the present application may also include step 390 (in Figure 3 ). In step 390, it is determined whether the vehicle's starting process is completed, for example, whether the vehicle has reached a predetermined speed or has passed an intersection or left a traffic jam. If the result is "Y", that is, the vehicle has completed the start, then step 302 can be entered, that is, the control process ends. Otherwise, that is, the result is "N", then it returns to step 360 to continue the starting process. It should be noted that step 390 is an optional step and can be omitted. For example, during the starting process, the driver can manually disable the control unit 100 or the control system 200, or the auxiliary driving system can disable the control unit 100 or the control system 200 in an override manner. It should be noted that the above-mentioned control method 300 can be implemented by the above-mentioned control unit 100 or the control system 200, but the present application is not limited to this, but can also be implemented by other systems.

[0042] As an example, the control unit 100 and the control system 200 proposed in the present application can be integrated into the existing assisted driving system, and the corresponding sensing device and the execution device can be used to implement the control method 300 proposed in the present application, so it is easy to promote and use. However, it should be noted that the implementation of the control unit 100, the control system 200 and the control method 300 of the present application puts forward certain requirements on the driver, for example, the driver must cooperate accordingly. Therefore, before the driver uses the control unit 100, the control system 200 and the control method 300 of the present application, the driver must be trained to ensure that the driver can have the corresponding state to improve the safety of driving.

[0043] For example, when the control method 300 of the present application is started, relevant matters that require the driver's attention may be played or displayed for training. In order to provide a better user experience, such training may allow the driver to skip or set, for example, to no longer play.

[0044] It should be noted that the control unit 100 of the present application can be arranged in an electronic control unit (ECU) or a vehicle body control unit (VCU) of a vehicle, or in a separately arranged controller, and all of its modules can be implemented as hardware, software, or a combination thereof. In addition, any of these modules can be further divided into sub-modules or combined together functionally. For the hardware-implemented part, it can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), data signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic units designed to perform their functions, or combinations thereof. For the part implemented in software, it can be implemented by means of microcodes, program codes, or code segments, and they can also be stored in machine-readable storage media such as memories.

[0045] Therefore, the present application also provides a machine-readable storage medium storing executable instructions, which can implement the control method described above when the instructions are executed by one or more processors.

[0046] It should be understood that the machine-readable medium may include, for example, a memory, which may be, for example, a magnetic storage device (e.g., a hard disk, a floppy disk, a magnetic stripe), an optical disk, a smart card, a flash memory device, a random access memory (RAM), a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), a register, or a removable disk.

[0047] The present application has been described in detail above in conjunction with specific embodiments. Obviously, the above description and the embodiments shown in the accompanying drawings should be understood as exemplary and do not constitute a limitation to the present application. For those skilled in the art, various modifications or changes can be made to the present application without departing from the spirit of the present application, and these modifications or changes do not depart from the scope of the present application.

Claims

1. A control unit (100) for assisting driving of a vehicle, comprising: An acquisition module (110), comprising an environment information module (111), wherein the environment information module (111) is configured to acquire environment information of an environment in which the vehicle is located; and A judgment module (120) is configured to judge whether the environmental information meets the requirements for starting the vehicle. The acquisition module (110) further comprises a driver information module (112), wherein the driver information module (112) is configured to acquire status information of the driver of the vehicle, and the judgment module (120) is further configured to judge whether the status information meets the requirements for starting the vehicle.

2. The control unit (100) according to claim 1, wherein: The state information includes first information indicating whether the driver is sitting in the driving seat of the vehicle. Preferably, the first information includes a signal indicating that a door of the vehicle is closed and a signal indicating that a seat belt of the vehicle is buckled.

3. The control unit (100) according to claim 2, wherein: The state information includes second information indicating whether the driver is paying attention. Preferably, the second information includes a signal indicating that the driver is looking forward.

4. The control unit (100) according to claim 3, wherein: The status information includes third information indicating whether the driver's hands are on the steering wheel of the vehicle.

5. The control unit (100) according to claim 1, wherein: The environmental information includes signals indicating the current status of traffic lights on the road where the vehicle is located and signals indicating whether there is a danger of the vehicle colliding with other road users and obstacles. Preferably, the environmental information includes one or more of electronic navigation map information in the vehicle's navigation device, information from a camera, information from a millimeter-wave radar, information from a lidar, and information from an ultrasonic radar.

6. The control unit (100) according to any one of claims 1 to 5, wherein: The control unit (100) further comprises an output module (130), wherein the output module (130) is configured to: outputting prompt information when the environmental information meets the requirement for starting the vehicle, wherein the prompt information is used to prompt the driver that the vehicle is about to start; as well as When the state information satisfies a requirement for starting the vehicle, a start signal is output to a drive device of the vehicle.

7. The control unit (100) according to claim 6, wherein: The driver information module (112) is further configured to obtain the driver's operation information, the judgment module (120) is further configured to judge whether the operation information conflicts with the start of the vehicle, and the output module (130) is further configured to output a signal for terminating the start when the operation information conflicts with the start of the vehicle.

8. A control system (200) for assisting driving of a vehicle, comprising: A control unit (100) according to any one of claims 1 to 7; a sensing device (210) configured to sense environmental information of an environment in which the vehicle is located and driver information of a driver of the vehicle, and provide the environmental information and the driver information to an acquisition module (110) of the control unit (100); The execution device (220) is configured to receive the signal output by the control unit (100) and execute an action corresponding to the signal.

9. A control method (300) for assisted driving of a vehicle, optionally performed according to the control unit (100) according to any one of claims 1 to 7 or the control system (200) according to claim 8, the control method (300) comprising: Obtaining environmental information of the environment in which the vehicle is located (310); Determining whether the environmental information meets the vehicle starting requirement (320); Acquiring status information of the driver of the vehicle (340); and It is determined whether the state information meets the vehicle starting requirement (350).

10. The control method (300) according to claim 9, wherein: Acquiring the status information of the driver of the vehicle (340) includes acquiring first information indicating that the driver is sitting in the driver's seat of the vehicle. Preferably, the first information includes a signal indicating that a door of the vehicle is closed and a signal indicating that a seat belt of the vehicle is buckled.

11. The control method (300) according to claim 10, wherein: Acquiring the state information (340) of the driver of the vehicle includes acquiring second information indicating whether the driver is concentrating, and preferably, the second information includes a signal indicating that the driver is looking forward.

12. The control method (300) according to claim 11, wherein: Acquiring status information (340) of a driver of the vehicle includes acquiring third information indicating that the driver's hands are placed on a steering wheel of the vehicle.

13. The control method (300) according to claim 9, wherein: Obtaining environmental information (310) about the environment in which the vehicle is located includes obtaining a signal indicating the current state of a traffic light on the road where the vehicle is located and a signal indicating whether there is a danger of the vehicle colliding with other road users and obstacles. Preferably, the environmental information includes one or more of electronic navigation map information in a navigation device of the vehicle, information from a camera, information from a millimeter-wave radar, information from a laser radar, and information from an ultrasonic radar.

14. The control method (300) according to claim 9, wherein: The control method (300) further includes: Outputting prompt information (330) when the environmental information meets the requirements for starting the vehicle, the prompt information being used to prompt the driver to start the vehicle; and When the state information satisfies the requirement for starting the vehicle, a start signal (360) is output.

15. The control method (300) according to claim 14, wherein: The control method (300) further includes acquiring the driver's operation information (370), and determining whether the operation information conflicts with the start of the vehicle (380), and outputting a signal for terminating the start when the operation information conflicts with the start of the vehicle.

16. A machine-readable storage medium storing executable instructions, which implement the control method (300) according to any one of claims 9 to 15 when the instructions are executed by one or more processors.

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