Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, and relates to the technical field of vehicles. The method comprises the steps that if it is detected that the vehicle is powered on, an environment detection module is controlled to be started; controlling an environment detection module to detect whether a target object exists in a preset range of the vehicle; wherein the target object is an object having a collision risk with the vehicle; and if the target object is not detected and the vehicle is detected to have a reversing demand, controlling the vehicle to reverse. The method can improve the driving safety.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and more specifically, to a control method, device, vehicle, and storage medium for a vehicle in the technical field of vehicles. Background Art

[0002] With the continuous improvement of the popularity of vehicles, the number of injury accidents caused by vehicles has been increasing. At present, intelligent driving functions such as radar systems and 360-degree surround view systems are widely used in vehicles, thus greatly reducing the occurrence of accidents when the vehicle is moving. However, in a special environment where there are many surrounding pedestrians or obstacles, if the vehicle needs to reverse after starting, it may happen that due to the inability to detect pedestrians around the vehicle in time, an accident may occur.

[0003] Therefore, how to improve driving safety is a technical problem that urgently needs to be solved at present. Summary of the Invention

[0004] The present application provides a control method, device, vehicle, and storage medium for a vehicle, and this method can improve driving safety.

[0005] In a first aspect, a control method for a vehicle is provided, which is applied to a vehicle controller; the vehicle includes a vehicle controller and an environment detection module; the vehicle controller is communicatively connected to the environment detection module; the method includes: if it is detected that the vehicle is powered on, controlling the environment detection module to turn on; controlling the environment detection module to detect whether there is a target object within a preset range of the vehicle; where the target object is an object that poses a collision risk to the vehicle; if no target object is detected and it is detected that the vehicle has a reverse requirement, controlling the vehicle to reverse.

[0006] In an embodiment of the present application, if it is detected that the vehicle is powered on, the environmental detection module is controlled to be turned on; and the environmental detection module is controlled to detect whether there is a target object within a preset range of the vehicle; the target object is an object that poses a collision risk to the vehicle; if no target object is detected and it is detected that the vehicle has a reverse requirement, the vehicle is controlled to reverse; compared with the related art where the environmental detection module is only connected to the reverse module, resulting in the environmental detection module being started only after the reverse module is started, in this solution, since the vehicle's vehicle control unit is connected to the environmental detection module, it is possible to directly control the environmental detection module to be turned on after detecting that the vehicle is powered on, and then timely detect whether there is a target object that poses a collision risk around the vehicle; that is, in this solution, before detecting whether the vehicle has a reverse requirement, the environmental detection module has been turned on and can timely detect the objects around the vehicle, and then when the vehicle has a reverse requirement, it can ensure that the vehicle can timely obtain whether there is a target object that poses a collision risk around it; when there is no target object that poses a collision risk, the vehicle is controlled to reverse; based on this, this solution can improve driving safety.

[0007] In combination with the first aspect, in some implementation manners of the first aspect, the method provided by the embodiments of the present application further includes: if a target object is detected, detecting whether the engine in the vehicle is started; if it is detected that the engine is started, controlling the vehicle to brake.

[0008] In an embodiment of the present application, by detecting whether the engine of the vehicle is started, it can be determined whether the vehicle will directly reverse if it has a reverse requirement at this time; since a target object is detected, it means that if the vehicle reverses at this time, it will collide with the target object. Therefore, when the engine is started, the vehicle can be controlled to brake in advance to prevent the vehicle from directly reversing and colliding with the target object.

[0009] In combination with the first aspect, in some implementation manners of the first aspect, the method provided by the embodiments of the present application further includes: obtaining the duration for which the detected target object persists; if the duration is greater than or equal to a preset duration, controlling the vehicle to brake.

[0010] In an embodiment of the present application, through the duration for which the target object persists, the risk of the vehicle colliding with the target object when reversing can be determined; if the duration is greater than or equal to the preset duration, it is determined that the risk of colliding with the target object at this time is relatively high; by controlling the vehicle to brake, a collision with the target object can be avoided, further improving driving safety.

[0011] In a possible implementation, obtaining the duration for which the target object is detected includes: if the second signal indicates the presence of a target object within a preset range, obtaining the duration of the second signal; the second signal is a signal sent by the environment detection module; if the duration is greater than or equal to a preset duration, controlling the vehicle to brake, including: if the duration of the second signal is greater than or equal to the preset duration, controlling the vehicle to brake.

[0012] In the embodiments of the present application, by detecting the duration of the second signal, the risk of collision between the vehicle and the target object when the vehicle is reversing can be accurately detected; if the duration is greater than or equal to the preset duration, it is determined that the risk of collision with the target object is relatively high at this time; by controlling the vehicle to brake, a collision with the target object can be avoided, further improving driving safety.

[0013] In combination with the first aspect, in some implementations of the first aspect, if a target object is detected, the method provided by the embodiments of the present application further includes at least one of the following: controlling the target vehicle lamp of the vehicle to turn on; outputting a voice alarm message; displaying a target alarm message on a display device in the vehicle; wherein, the voice alarm message and the target alarm message are used to prompt the user that there is a target object within a preset range.

[0014] In the embodiments of the present application, if a target object is detected, through at least one of the target vehicle lamp, the voice alarm message, and the alarm message, it can be ensured that the user is aware of the presence of a target object around the vehicle, further improving driving safety.

[0015] In combination with the first aspect, in some implementations of the first aspect, the vehicle further includes a target module; the target module includes at least one of a target control module, a voice module, a display device, and a braking module; the vehicle controller is communicatively connected to the target module; the method further includes: if it is detected that the vehicle is powered on, controlling the target module to turn on; wherein, the target control module is used to control the target vehicle lamp of the vehicle; the voice module is used to control the vehicle to output voice information; the braking module is used to control the vehicle to brake.

[0016] In the embodiments of the present application, when it is detected that the vehicle is powered on, the vehicle controller can simultaneously control the target module in the vehicle to turn on, and then can timely control the target module to execute the functions corresponding to the target module, thereby improving the efficiency of each function of the vehicle.

[0017] In combination with the first aspect, in some implementations of the first aspect, controlling the environment detection module to detect whether there is a target object within a preset range of the vehicle includes: sending a first signal to the environment detection module to enable the environment detection module to detect whether there is a target object within the preset range; based on the second signal received from the environment detection module, determining whether there is a target object within the preset range.

[0018] In an embodiment of the present application, through the signal transmission between the environment detection module and the vehicle controller, it is possible to quickly and accurately determine whether there is a target object within a preset range.

[0019] Combined with the first aspect, in some implementation manners of the first aspect, the method provided by the embodiments of the present application further includes: detecting the current state of the reverse gear of the vehicle; if the current state is the on state, determining that the vehicle has a reverse requirement. If the current state is the off state, determining that the vehicle does not have a reverse requirement.

[0020] In an embodiment of the present application, by detecting the current state of the reverse gear of the vehicle, it is possible to accurately determine whether the vehicle has a reverse requirement at this time, and then be able to accurately determine whether the vehicle needs to reverse at this time.

[0021] In a second aspect, a control device for a vehicle is provided, and the control device includes:

[0022] A control module, configured to control the environment detection module to turn on if it detects that the vehicle is powered on;

[0023] A detection module, configured to control the environment detection module to detect whether there is a target object within a preset range of the vehicle; wherein the target object is an object with a collision risk with the vehicle;

[0024] The control module is further configured to control the vehicle to reverse if it does not detect a target object and detects that the vehicle has a reverse requirement.

[0025] As a possible implementation manner, the detection module is further configured to detect whether the engine in the vehicle is started if it detects a target object; the control module is further configured to control the vehicle to brake if it detects that the engine is started.

[0026] As a possible implementation manner, the control device provided by the embodiments of the present application further includes an acquisition module, configured to acquire the duration of continuously detecting a target object; the control module is further configured to control the vehicle to brake if the duration is greater than or equal to a preset duration.

[0027] As a possible implementation manner, the control module is further configured to control the target vehicle lamp of the vehicle to turn on; output a voice alarm message; display a target alarm message on a display device in the vehicle; wherein the voice alarm message and the target alarm message are used to prompt the user that there is a target object within the preset range.

[0028] As a possible implementation manner, the control module is further configured to control the target module to turn on if it detects that the vehicle is powered on; wherein the target control module is used to control the target vehicle lamp of the vehicle; the voice module is used to control the vehicle to output voice information; the braking module is used to control the vehicle to brake.

[0029] As a possible implementation, the detection module is specifically configured to send a first signal to the environment detection module to enable the environment detection module to detect whether there is a target object within a preset range; and determine whether there is a target object within the preset range based on the second signal received from the environment detection module.

[0030] As a possible implementation, the detection module is further configured to detect the duration of the second signal; the control module is further configured to control the vehicle to brake if the duration is greater than or equal to a preset duration.

[0031] As a possible implementation, the detection module is further configured to detect the current state of the reverse gear of the vehicle; the control device provided by the embodiments of the present application further includes: a determination module, configured to determine that the vehicle has a reverse requirement if the current state is the on state, and determine that the vehicle does not have a reverse requirement if the current state is the off state.

[0032] In a third aspect, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation manner of the first aspect.

[0033] In a fourth aspect, a computer program product is provided, including: computer program code, when the computer program code runs on a computer, enabling the computer to execute the method in the first aspect or any possible implementation manner of the first aspect.

[0034] In a fifth aspect, a computer-readable storage medium is provided, storing computer program code, when the computer program code runs on a computer, enabling the computer to execute the method in the first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0035] Figure 1 is a schematic diagram of a scenario provided by an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of the structure of a vehicle in a related technology provided by an embodiment of the present application;

[0037] Figure 3 is a schematic flowchart of a control method of a vehicle provided by an embodiment of the present application;

[0038] Figure 4 is a schematic diagram of the structure of a radar monitoring module provided by an embodiment of the present application;

[0039] Figure 5It is a schematic structural diagram of a panoramic surround view module provided by an embodiment of the present application;

[0040] Figure 6 It is a flowchart of a vehicle start provided by an embodiment of the present application;

[0041] Figure 7 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application;

[0042] Figure 8 It is a schematic flowchart of another vehicle control method provided by an embodiment of the present application;

[0043] Figure 9 It is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application;

[0044] Figure 10 It is a schematic structural diagram of another vehicle provided by an embodiment of the present application. Detailed implementation manners

[0045] Next, the technical solutions in the present application will be clearly and elaborately described with reference to the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B: "and / or" in the text is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0046] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0047] With the continuous improvement of the popularity of vehicles, the number of injury accidents caused by vehicles is increasing day by day. At present, intelligent driving functions such as radar systems and 360 surround view systems are widely used in vehicles, so the occurrence of accidents during vehicle movement is reduced to a great extent. However, in a special environment where there are many surrounding pedestrians or obstacles around the vehicle, if the vehicle needs to reverse after starting, it may cause accidents due to the inability to detect pedestrians around the vehicle in time.

[0048] Exemplarily, as Figure 1 shown, Figure 1A scene schematic diagram provided by an embodiment of the present application. Scene 100 includes vehicle 110 and target object 120. Among them, target object 120 is an object within the preset range of vehicle 110, and there is a collision risk between target object 120 and vehicle 110.

[0049] Among them, target object 120 is illustrated by taking a pedestrian as an example. Of course, target object 120 can also be other objects, such as trees, stones, etc., and the embodiments of the present application do not make specific limitations on this.

[0050] Exemplarily, if vehicle 110 reverses after starting; and target object 120 is located behind vehicle 110, and this position is a blind area for vehicle 110, then in the case where vehicle 110 does not timely detect that there is a target object around the vehicle, it may collide with target object 110, thus resulting in an accident.

[0051] In the intelligent driving system in the related art, when the vehicle is reversing, the radar system and the 360-degree surround view system associated with the intelligent driving system can detect whether there are pedestrians or other living things around the vehicle through the algorithms of their own systems; and when there are objects such as pedestrians around the vehicle, the user is prompted that there are pedestrians around the vehicle at this time. However, since the radar system and the 360-degree surround view system can only start working after the reverse system is started. This will cause accidents to occur because the user cannot timely detect that there are pedestrians around the vehicle when reversing.

[0052] For example, as Figure 2 shown, Figure 2 A vehicle structure schematic diagram of a related art provided by an embodiment of the present application. Vehicle 200 includes a vehicle controller 210, a reverse module 220, a surround view module 230, and a radar monitoring module 240. Optionally, vehicle 200 also includes an in-vehicle receiving module 250, a cockpit control module 260, and a central control display screen 270. Among them, vehicle controller 210 is connected to reverse module 220 and in-vehicle receiving module 250; since surround view module 230 and radar monitoring module 240 are respectively connected to reverse module 220, surround view module 230 and radar monitoring module 240 can only start working after reverse module 220 is started. Therefore, during the process of vehicle reversing, accidents may occur because pedestrians around the vehicle cannot be timely detected.

[0053] Therefore, how to improve driving safety is a technical problem that urgently needs to be solved at present.

[0054] In view of this, the embodiments of the present application provide a control method, device, vehicle and storage medium for a vehicle. This method can, before the vehicle reverses, first control the environment detection module to detect whether there are target objects (such as pedestrians) around the vehicle, thereby avoiding directly reversing without determining whether there are pedestrians around the vehicle and causing a collision with pedestrians; and when there are no pedestrians around the vehicle and it is detected that the vehicle has a reversing requirement, control the vehicle to reverse, thereby ensuring the safety of the vehicle when reversing; based on this, this solution can solve the technical problem of collision risk during driving.

[0055] To illustrate the technical solution of the present application, specific embodiments will be used for illustration below. The following will be combined with Figures 3 to 8 Describe in detail the control method for the vehicle provided by the embodiments of the present application.

[0056] It should be understood that the embodiments of the present application do not particularly limit the execution subject of the control method for the vehicle. As long as a program that runs the code of the control method for the vehicle in the embodiments of the present application can communicate according to the control method for the vehicle in the embodiments of the present application. For example, the execution subject of the control method for the vehicle provided by the embodiments of the present application can be a vehicle, or a vehicle controller in the vehicle, or a control device for a vehicle applied in the vehicle, such as a chip.

[0057] Figure 3 It is a schematic flowchart of a control method for a vehicle provided by the embodiments of the present application. Figure 3 It includes S301 to S303.

[0058] Exemplarily, a vehicle controller and an environment detection module are included in the vehicle; the vehicle controller is communicatively connected to the environment detection module. For example, the environment detection module can include a radar monitoring module and / or a panoramic surround view module.

[0059] For example, this communication connection can be a communication connection through a Controller Area Network (CAN) bus, or a data connection through other data connection lines; for example, a Local Interconnect Network (LIN) bus, Ethernet, etc. The embodiments of the present application do not make specific limitations on this.

[0060] For example, a Vehicle Control Unit (VCU) is the core control unit in the vehicle and is used to coordinate the work of each module in the vehicle.

[0061] For example, the radar monitoring module can use radar technology for environment perception and detection, and then detect whether there are objects around the vehicle. The radar technology can be millimeter-wave radar technology. Such asFigure 4 As shown Figure 4 This is a schematic structural diagram of a radar monitoring module provided by an embodiment of the present application. The radar monitoring module 400 may include: an environmental perception unit 410, an algorithm chip 420, and a control execution unit 430; the algorithm chip 420 is respectively connected to the environmental perception unit 410 and the control execution unit 430; the environmental perception unit 410 may be configured to collect surrounding environmental information through millimeter-wave signals; the algorithm chip 420 may be configured to calculate the data sent by the environmental perception unit 410 for the control execution unit 430 to make decisions and controls. The control execution unit 420 may be configured to process and judge the environmental information collected by the environmental perception unit 410 to determine whether there are objects around. The environmental perception unit 410 may include an antenna 411, an antenna transceiver switch 412, a transmitter 413, a receiver 414, and a signal processor 415. The antenna 411 is responsible for transmitting and receiving millimeter-wave signals; the antenna transceiver switch 412 may control the switching of the antenna between the transmitting and receiving modes; the transmitter 413 may be configured to generate millimeter-wave signals and transmit them into the environment; the receiver 414 may receive the millimeter-wave signals reflected from the environment; the signal processor 415 may be configured to process the received millimeter-wave signals.

[0062] For another example, the panoramic surround-view module may be configured to provide panoramic information around the vehicle for the user; for example, by multiple cameras around the vehicle working together to obtain information from multiple perspectives around the vehicle. As Figure 5 shown Figure 5Schematic diagram of the structure of a panoramic surround view module provided by an embodiment of the present application. The panoramic surround view module 500 includes: a plurality of cameras 510, and a panoramic surround view main driving module 520. Among them, the plurality of cameras 510 can be installed around the vehicle to collect environmental information around the vehicle; for example, the plurality of cameras 510 include a left camera of the vehicle, a right camera of the vehicle, a front camera of the vehicle, and a rear camera of the vehicle. The panoramic surround view main driving module 520 can include a video acquisition module 521, a power module 522, a micro control module 523, a video processing module algorithm module 524, a controller area network communication module 525, and a video output module 526. The video processing module algorithm module 524 is respectively connected to the video acquisition module 521, the micro control module 523, and the video output module 526; the controller area network communication module 525 is connected to the micro control module 523. The video acquisition module 521 is used to receive the environmental information collected by the plurality of cameras 510; the power module 522 is used to provide power for other modules in the panoramic surround view module 500; the micro control module 523 is used to be responsible for the overall control and data processing of the panoramic surround view module 500; the video processing module algorithm module 524 can be used to perform image processing on the collected video signals, including encoding, compression, etc., to reduce the data volume and facilitate transmission and storage. The controller area network communication module 525 is used to realize connection with other modules in the vehicle through a controller area network communication line; the video output module 526 is used to output the processed video signals to an external display device or a storage system through a Low Voltage Differential Signaling (LVDS) line for the user to view or save.

[0063] The following uses S301 to S303 to exemplarily illustrate a vehicle control method provided by an embodiment of the present application.

[0064] S301. If it is detected that the vehicle is powered on, control the environment detection module to turn on.

[0065] Exemplarily, the vehicle being powered on refers to the process of the vehicle changing from a stationary state to a working state. It should be noted that when the vehicle is powered on, the engine of the vehicle can be in an off state at this time. At this time, the vehicle can supply power to the environment detection module in the vehicle to turn on the environment detection module.

[0066] Exemplarily, the user can remotely control the vehicle to be powered on and turned on through a key. For example, as Figure 6 shown, Figure 6A flowchart for vehicle startup provided by an embodiment of this application. The user can send an activation signal to the vehicle's on-vehicle terminal through a key mobile terminal; when the on-vehicle terminal receives the signal, it will send a control instruction to the vehicle control unit to control the vehicle to power on; after receiving the control instruction, the vehicle control unit controls the vehicle to power on; after the vehicle powers on, other modules in the vehicle (such as the environmental detection module, etc.) can be controlled to start through the controller area network communication module. Of course, the vehicle control unit can also output an ignition instruction to the relay switch through an output control switch; the relay switch then controls the vehicle to start ignition.

[0067] S302. Control the environmental detection module to detect whether there is a target object within a preset range of the vehicle.

[0068] Wherein, the target object is an object with a collision risk with the vehicle.

[0069] Exemplarily, the target object can be a pedestrian or other obstacles; for example, stationary obstacles (such as trees, etc.) or dynamic obstacles (such as animals, other vehicles, etc.), and the embodiments of this application do not make specific limitations in this regard.

[0070] Exemplarily, the preset range of the vehicle can be used to reflect the set range around the vehicle. The size and shape of the preset range can be configured by the vehicle or set manually, and the embodiments of this application do not make specific limitations in this regard. For example, the shape of the preset range can be a circle, rectangle, triangle, etc. centered on the vehicle. When the shape of the preset range is a circle centered on the vehicle, its radius can be 3 meters, 5 meters, etc.

[0071] Exemplarily, when the environmental detection module is activated, the vehicle can detect the surrounding environment of the vehicle by controlling the environmental detection module (such as a radar monitoring module and / or a panoramic surround view module). If a target object is detected within the preset range of the vehicle, it is determined that there is an object with a collision risk with the vehicle around the vehicle. If no target object is detected within the preset range of the vehicle, it is determined that there is no object with a collision risk with the vehicle around the vehicle.

[0072] It can be understood that by detecting whether there is a target object around the vehicle, it can help the user timely discover the potential risk situations around the vehicle; and by directly controlling the activation of the environmental detection module when the vehicle powers on, it is possible to timely control the environmental detection module to detect whether there is a target object around the vehicle, avoiding the occurrence of traffic accidents caused by the user not timely discovering pedestrians around the vehicle when reversing.

[0073] S303. If no target object is detected and it is detected that the vehicle has a reversing requirement, control the vehicle to reverse.

[0074] Exemplarily, if the reverse requirement is used to reflect whether the vehicle needs to reverse at this time, that is, the vehicle is in a state of requesting to reverse; the reverse requirement can be determined by the state of the reverse gear of the vehicle.

[0075] As an example, if no target object that collides with the vehicle is detected within the preset range of the vehicle, and the vehicle has a reverse requirement at this time, the vehicle can be controlled to reverse.

[0076] As another example, if no target object that collides with the vehicle is detected within the preset range of the vehicle, and the vehicle has no reverse requirement at this time, the vehicle is prohibited from reversing at this time.

[0077] It should be noted that if the vehicle has a reverse requirement, the engine of the vehicle is in a starting state at this time.

[0078] In a possible embodiment of the present application, the current state of the reverse gear of the vehicle can be detected; if the current state is an open state, it is determined that the vehicle has a reverse requirement. If the current state is a closed state, it is determined that the vehicle has no reverse requirement.

[0079] As an example, the current state of the reverse gear can be adjusted by the user, such as shifting into the reverse gear, pressing the reverse button, etc.

[0080] As another example, the current state of the reverse gear can also be automatically generated by the vehicle's autonomous driving function according to the vehicle's driving route and plan. For example, in the case where the user inputs the end position that the vehicle needs to reach, the vehicle can determine the driving route based on its current position and the end position; based on the driving route, it is determined whether the current state of the reverse gear needs to be adjusted at this time.

[0081] In the embodiment of the present application, by detecting the current state of the reverse gear of the vehicle, it can be accurately determined whether the vehicle has a reverse requirement at this time, and then it can be accurately determined whether the vehicle needs to reverse at this time.

[0082] In an embodiment of the present application, if it is detected that the vehicle is powered on, the environment detection module is controlled to be turned on; and the environment detection module is controlled to detect whether there is a target object within a preset range of the vehicle; the target object is an object that poses a collision risk to the vehicle; if no target object is detected and it is detected that the vehicle has a reverse gear demand, the vehicle is controlled to reverse; compared with the related art where the environment detection module is only connected to the reverse gear module, resulting in the environment detection module being started only after the reverse gear module is started, in this solution, since the vehicle's vehicle controller is connected to the environment detection module, it is possible to directly control the environment detection module to be turned on after detecting that the vehicle is powered on, and then timely detect whether there is a target object with a collision risk around the vehicle; that is, in this solution, before detecting whether the vehicle has a reverse gear demand, the environment detection module has been turned on and can timely detect the objects around the vehicle, and then when the vehicle has a reverse gear demand, it can ensure that the vehicle can timely obtain whether there is a target object with a collision risk around it; when there is no target object with a collision risk, the vehicle is controlled to reverse; based on this, this solution can improve driving safety.

[0083] In a possible embodiment of the present application, the method provided by the embodiment of the present application further includes: if a target object is detected, detecting whether the engine in the vehicle is started; if it is detected that the engine is started, controlling the vehicle to brake.

[0084] It should be noted that by detecting whether the engine is started, it can be determined whether the vehicle will directly reverse if the vehicle has a reverse gear demand at this time.

[0085] For example, if the engine is started and the vehicle has a reverse gear demand, the vehicle will directly reverse; if the engine is not started and the vehicle has a reverse gear demand, the vehicle will not reverse. Since the engine is used to drive the vehicle to travel, in the case where the engine is not started, even if the vehicle has a reverse gear demand (for example, the reverse gear is engaged), the vehicle still will not reverse.

[0086] Exemplarily, if it is detected that there is a target object within the preset range of the vehicle that poses a collision risk to the vehicle, it can be determined whether the engine of the vehicle has been started at this time. If the engine is started, there may be a risk that the vehicle will directly reverse at this time; therefore, the vehicle can be controlled to brake to prevent the vehicle from moving forward, and thus prevent the vehicle from colliding with the target object, improving driving safety.

[0087] Exemplarily, when the braking module in the vehicle is turned on, the vehicle controller can control the braking module to enable the braking module to control the vehicle to brake.

[0088] In an embodiment of the present application, by detecting whether the vehicle engine is started, it can be determined whether the vehicle directly reverses when there is a reverse demand at this time; since a target object is detected, it indicates that if the vehicle reverses at this time, it will collide with the target object. Therefore, when the engine is started, the vehicle can be controlled in advance to brake to prevent the vehicle from directly reversing and causing a collision with the target object.

[0089] In a possible embodiment of the present application, if a target object is detected, the method provided by the embodiment of the present application further includes: obtaining the duration for which the target object is detected; if the duration is greater than or equal to a preset duration, controlling the vehicle to brake.

[0090] Exemplarily, the preset duration can be the duration pre-configured for the vehicle or the duration set manually, and the embodiment of the present application does not make specific limitations thereto. For example, the preset duration can be 5s.

[0091] Exemplarily, since the target object can be an object in a stationary state or an object in a moving state.

[0092] For example, if the target object is in a moving state, the duration for which the target object is within the preset range is relatively short (less than the preset duration), indicating that the target object will quickly leave the preset range of the vehicle after the target object is detected; at this time, if the vehicle reverses, the risk of colliding with the target object is relatively small.

[0093] For another example, if the target object is in a stationary state or in a moving state with a low moving speed, it indicates that the target object may stay within the preset range of the vehicle for a relatively long time after the target object is detected. At this time, if the vehicle reverses, the risk of colliding with the target object is relatively high; at this time, the vehicle can be controlled to brake.

[0094] As an example, the duration for which the target object is detected can be the duration determined by the environmental detection module, and then the duration for which the target object is detected can be directly obtained from the environmental detection module.

[0095] As another example, the duration for which the target object is detected can be determined by the period of the signal sent by the environmental detection module. For example, if the environmental detection module sends signals at the first moment and the second moment to indicate that the environmental detection module has detected the target object; the duration for which the target object is detected can be determined by the time interval between the first moment and the second moment.

[0096] In an embodiment of the present application, through the duration for which the target object is detected, the risk of the vehicle colliding with the target object when reversing can be determined; if the duration is greater than or equal to the preset duration, it is determined that the risk of colliding with the target object at this time is relatively high; by controlling the vehicle to brake, a collision with the target object can be avoided, further improving the driving safety.

[0097] In a possible embodiment of the present application, if a target object is detected, the method provided by the embodiments of the present application further includes at least one of the following: controlling the target vehicle lamp of the vehicle to turn on; outputting a voice alarm message; and displaying a target alarm message on a display device in the vehicle.

[0098] Among them, the voice alarm message and the target alarm message are used to prompt the user that there is a target object within a preset range.

[0099] Exemplarily, the target alarm message may be a text message displayed on the display device; for example, the content of the voice alarm message and the content of the target alarm message may be "There is a pedestrian on the left rear, no parking allowed!" and the like.

[0100] Exemplarily, the target vehicle lamp of the vehicle may be a reverse lamp, a headlamp, a hazard warning lamp, etc., and the embodiments of the present application do not make specific limitations thereto.

[0101] Exemplarily, the display device in the vehicle may be a device connected to the cockpit control module in the vehicle, such as an instrument panel, a central control display device, etc., and the embodiments of the present application do not make specific limitations thereto.

[0102] Exemplarily, the target vehicle lamp can be controlled to turn on through a control module for controlling the vehicle lamp to turn on; the voice alarm message is output through a voice module in the vehicle; and the display device is controlled to display the target alarm message through the cockpit control module.

[0103] Optionally, in the case where it is detected that the target object is not within the preset range of the vehicle, the target vehicle lamp can be controlled to turn off, the output of the voice alarm message can be cancelled, and the display of the target alarm message can be cancelled.

[0104] As a possible implementation manner, when the voice alarm message is output, the output duration of the voice alarm message or the display duration of the target alarm message or the activation duration of the target vehicle lamp is detected; if the output duration is greater than or equal to a preset duration, the vehicle is controlled to brake.

[0105] In the embodiment of the present application, if a target object is detected, through at least one of the target vehicle lamp, the voice alarm message, and the alarm message, it can be ensured that the user is aware that there is a target object around the vehicle, further improving driving safety.

[0106] In a possible embodiment of the present application, the vehicle further includes a target module; the target module includes at least one of a target control module, a voice module, a display device, and a braking module; the vehicle controller is communicatively connected to the target module; the method provided by the embodiments of the present application further includes: if it is detected that the vehicle is powered on, controlling the target module to turn on;

[0107] Among them, the target control module is used to control the target vehicle lights; the voice module is used to control the vehicle to output voice information; the braking module is used to control the vehicle to brake.

[0108] Exemplarily, as Figure 7 shown, Figure 7 FIG. is a schematic structural diagram of a vehicle provided by an embodiment of the present application. The vehicle 700 includes: a vehicle controller 701, a panoramic surround view module 702, a radar monitoring module 703, a reverse module 704, an in-vehicle receiving module 705, a cockpit control module 706, a voice module 707, a vehicle light control module 708, a braking module 709, and a central control display screen 710.

[0109] For example, the vehicle control module 702 is respectively communicatively connected to the panoramic surround view module 702, the radar monitoring module 703, the reverse module 704, the in-vehicle receiving module 705, the cockpit control module 706, the voice module 707, the vehicle light control module 708, and the braking module 709 through a controller area network bus. Optionally, the reverse module 704 is also respectively communicatively connected to the panoramic surround view module 702 and the radar monitoring module 703. The cockpit control module 706 is connected to the central control display screen 710.

[0110] For example, the reverse module 704 is used to control the vehicle to reverse; the in-vehicle receiving module 705 is used to interact with the user, for example, to receive an opening instruction sent by the user through the key to control the vehicle to power on. The cockpit control module 706 can control the central control display screen 709 to display information, such as target alarm information. The voice module 707 can be used to output voice information, such as voice alarm information. The vehicle light control module 708 can be used to control the vehicle lights to turn on or off. The braking module 709 can be used to control the vehicle to brake.

[0111] Exemplarily, the target control module can be Figure 7 the vehicle light control module 708 in Figure 7 ; the voice module can be Figure 7 the voice module 707 in Figure 7 ; the display device can be

[0112] the central control display screen 710 connected to the cockpit control module 706 in

[0113] In a possible embodiment of the present application, the control environment detection module is configured to detect whether there is a target object within a preset range of the vehicle, including: sending a first signal to the environment detection module to cause the environment detection module to detect whether there is a target object within the preset range; and determining whether there is a target object within the preset range based on the second signal received from the environment detection module.

[0114] Exemplarily, the first signal can be used to indicate whether there is a target object within a preset range of the vehicle; for example, the first signal can carry information indicating whether there is a target object within a preset range of the vehicle, or can carry a control instruction to instruct the environment detection module to start working.

[0115] Exemplarily, the second signal can be used to indicate that there is a target object within the preset range. For example, the second signal can be a high-level signal; or, the second signal can also carry information that there is a target object within the preset range.

[0116] As an example, if the second signal sent by the environment detection module is received, it is determined that there is a target object within the preset range.

[0117] As another example, if no information is received from the environment detection module (for example, no information is received from the environment detection module within a specified duration), it is determined that there is no target object within the preset range.

[0118] As an example, if there is a target object within the preset range, the duration of the second signal can be further detected; if the duration of the second signal is greater than or equal to a preset duration, the vehicle is controlled to brake. For example, a first braking control instruction can be sent to the braking module in the vehicle to cause the braking module to control the vehicle to brake.

[0119] It can be understood that by detecting the duration of the second signal, the risk of collision with a target object when the vehicle is reversing can be accurately detected; if the duration is greater than or equal to the preset duration, it is determined that the risk of collision with the target object is relatively high at this time; by controlling the vehicle to brake, the collision with the target object can be avoided, further improving the driving safety.

[0120] As another example, if there is a target object within the preset range, whether the engine in the vehicle is started can be further detected; if the engine is started, a second braking control instruction can be sent to the braking module in the vehicle to cause the braking module to control the vehicle to brake.

[0121] As another example, if there is no target object within the preset range and it is detected that the vehicle has a reversing requirement (for example, the reverse gear is in the open state), a reversing control instruction can be sent to the reversing module in the vehicle to cause the reversing module to control the vehicle to reverse.

[0122] In an embodiment of the present application, through the signal transmission between the environmental detection module and the vehicle controller, it is possible to quickly and accurately determine whether there is a target object within a preset range.

[0123] Figure 8 It is a schematic flowchart of another vehicle control method provided by an embodiment of the present application.

[0124] Exemplarily, Figure 8 The vehicle control method shown can be executed by the vehicle controller in the vehicle, or by the vehicle, or by the vehicle control device in the vehicle, such as a chip.

[0125] Such as Figure 8 As shown, the vehicle control method includes S801 to S809, and S801 to S809 will be described in detail below.

[0126] S801. If an activation instruction sent by the user is received, control the vehicle to power on.

[0127] Optionally, in a possible implementation manner, if it is detected that the vehicle is powered on, control the environmental detection module, voice module, headlight control module, braking module, reverse module, and display device in the vehicle to turn on.

[0128] Exemplarily, the user can remotely control the vehicle to power on and activate through a key. For example, as Figure 6 shown, Figure 6 It is a flowchart of a vehicle start provided by an embodiment of the present application. The user can send an activation signal from a key mobile terminal to the vehicle's on-vehicle terminal; when the on-vehicle terminal receives the signal, it will send a control instruction to the vehicle controller to control the vehicle to power on; after the vehicle controller receives the control instruction, it controls the vehicle to power on; after the vehicle is powered on, it can control other modules in the vehicle (such as the environmental detection module, etc.) to turn on through the controller area network communication module. Of course, the vehicle controller can also output an ignition instruction to the relay switch through an output control switch; the relay switch then controls the vehicle to start the ignition.

[0129] S802. Detect whether there is a target object within a preset range of the vehicle. If so, execute S803; if not, execute S808.

[0130] Optionally, in a possible implementation manner, control the environmental detection module to detect whether there is a target object within a preset range of the vehicle.

[0131] Exemplarily, the target object can be a pedestrian or other obstacles; for example, stationary obstacles (such as trees, etc.) or dynamic obstacles (such as animals, other vehicles, etc.), and the embodiments of the present application do not make specific limitations thereto.

[0132] Exemplarily, the preset range of the vehicle can be used to reflect the set range around the vehicle. The size and shape of the preset range can be configured by the vehicle or set manually, and the embodiments of the present application do not make specific limitations thereto. For example, the shape of the preset range can be a circle, rectangle, triangle, etc. centered on the vehicle. When the shape of the preset range is a circle centered on the vehicle, its radius can be 3 meters, 5 meters, etc.

[0133] S803. Detect whether the engine in the vehicle is started. If so, execute S804.

[0134] Optionally, in a possible implementation, if not (if the engine is not started), then repeat to execute S803.

[0135] It should be noted that by detecting whether the engine is started, it can be determined whether the vehicle will directly reverse at this time if the vehicle has a reverse requirement.

[0136] For example, if the engine is started and the vehicle has a reverse requirement, the vehicle will directly reverse; if the engine is not started and the vehicle has a reverse requirement, the vehicle will not reverse. Since the engine is used to drive the vehicle to travel, when the engine is not started, even if the vehicle has a reverse requirement (for example, the reverse gear is engaged), the vehicle still will not reverse.

[0137] S804. Control the vehicle to brake.

[0138] Exemplarily, when the braking module in the vehicle is turned on, the vehicle controller can control the braking module so that the braking module controls the vehicle to brake.

[0139] Exemplarily, if it is detected that there is a target object in the preset range of the vehicle that poses a risk of collision with the vehicle, it can be determined whether the engine of the vehicle has been started at this time. If the engine is started, there may be a risk that the vehicle will directly reverse at this time; therefore, the vehicle can be controlled to brake to prevent the vehicle from moving forward, thereby preventing the vehicle from colliding with the target object and improving driving safety.

[0140] S805. Output a voice alarm message and control the vehicle's hazard lights to turn on.

[0141] Among them, the voice alarm message is used to prompt the user that there is a target object in the preset range.

[0142] Optionally, the target alarm information can also be displayed on a display device in the vehicle. The target alarm information is used to prompt the user that there is a target object within a preset range. For example, the content of the voice alarm information and the content of the target alarm information can be "There is a pedestrian on the left rear, no parking allowed!" etc.

[0143] Exemplarily, the display device in the vehicle can be a device connected to the cockpit control module in the vehicle, such as an instrument panel, a central control display device, etc., and the embodiments of the present application do not make specific limitations on this.

[0144] It can be understood that when it is detected that the target object is not within the preset range of the vehicle, the target vehicle lights can be controlled to turn off, the output of the voice alarm information can be cancelled, and the display of the target alarm information can be cancelled.

[0145] In a possible implementation manner, when the voice alarm information is output, the output duration of the voice alarm information or the display duration of the target alarm information or the activation duration of the target vehicle lights is detected; if the output duration is greater than or equal to the preset duration, the vehicle is controlled to brake.

[0146] S806. Detect whether there is a target object within the preset range of the vehicle; if not, then execute S807.

[0147] Optionally, in a possible implementation manner, if yes (if there is a target object within the preset range of the vehicle), then S806 is re-executed;

[0148] Optionally, in a possible implementation manner, after the preset duration, it is detected whether there is a target object within the preset range of the vehicle.

[0149] Exemplarily, the preset duration can be the duration pre-configured for the vehicle or the duration set manually, and the embodiments of the present application do not make specific limitations on this. For example, the preset duration can be 5s.

[0150] Exemplarily, since the target object can be an object in a stationary state or an object in a moving state.

[0151] For example, if the target object is in a moving state, the duration of the target object within the preset range is relatively small (less than the preset duration), indicating that the target object will quickly leave the preset range of the vehicle after being detected; at this time, if the vehicle is reversing, the risk of collision with the target object is relatively small; therefore, the output of the voice alarm information can be cancelled and the hazard lights of the vehicle can be controlled to turn off.

[0152] For another example, if the target object is in a stationary state or a moving state with a low speed, it indicates that the target object may stay within the preset range of the vehicle for a relatively long time after being detected. At this time, if the vehicle reverses, the risk of collision with the target object is relatively high; in this case, it is necessary to control the vehicle to brake.

[0153] S807. Stop outputting the voice alarm information and turn off the hazard lights of the vehicle.

[0154] S808. Detect whether the reverse gear of the vehicle is in an open state. If so, execute S809.

[0155] In a possible implementation manner, if the reverse gear is in a closed state, re - execute S808.

[0156] As an example, the current state of the reverse gear can be adjusted by the user, such as engaging the reverse gear, pressing the reverse button, etc.

[0157] As another example, the current state of the reverse gear can also be automatically generated by the vehicle's autonomous driving function according to the vehicle's driving route and plan. For example, when the user inputs the end position that the vehicle is to reach, the vehicle can determine the driving route based on its current position and the end position; based on the driving route, determine whether it is necessary to adjust the current state of the reverse gear at this time.

[0158] S809. Control the vehicle to reverse.

[0159] In a possible implementation manner, the vehicle can be controlled to reverse through the reverse module in the vehicle.

[0160] In an embodiment of the present application, if it is detected that the vehicle is powered on, the environmental detection module is controlled to be turned on; and the environmental detection module is controlled to detect whether there is a target object within a preset range of the vehicle; the target object is an object that poses a collision risk to the vehicle; if no target object is detected and it is detected that the vehicle has a reverse requirement, the vehicle is controlled to reverse; if a target object is detected, the hazard warning lights and voice alarm information are used to ensure that the user can be aware that there is a target object around the vehicle; compared with the related art where the environmental detection module is only connected to the reverse module, resulting in the environmental detection module being started only after the reverse module is started, in this solution, since the vehicle's vehicle control unit is connected to the environmental detection module, it is possible to directly control the environmental detection module to be turned on after detecting that the vehicle is powered on, and then timely detect whether there is a target object posing a collision risk around the vehicle; that is, in this solution, before detecting whether the vehicle has a reverse requirement, the environmental detection module has been turned on and can timely detect the objects around the vehicle, and then when the vehicle has a reverse requirement, it can ensure that the vehicle can timely obtain whether there is a target object posing a collision risk around it; when there is no target object posing a collision risk, the vehicle is controlled to reverse; based on this, this solution can improve driving safety.

[0161] For the specific descriptions of S801 to S809, reference can be made to the above text. Figure 3 and Figure 7 and the related descriptions, which will not be elaborated here.

[0162] It should be understood that the above examples are for helping those skilled in the art to understand the embodiments of the present application, rather than limiting the embodiments of the present application to the specific numerical values or specific scenarios shown. Those skilled in the art can obviously make various equivalent modifications or changes according to the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0163] Above, in combination with Figures 3 to 8 the vehicle control method provided by the embodiments of the present application is described in detail; below, in combination with Figure 9 and Figure 10 the device embodiments of the present application will be described in detail. It should be understood that the devices in the embodiments of the present application can execute the various methods of the foregoing embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the foregoing method embodiments.

[0164] Below, in combination with Figure 9 the vehicle control device provided by the embodiments of the present application will be described in detail.

[0165] As Figure 9 shown, Figure 9 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application.

[0166] Exemplarily, asFigure 9 As shown, the control device includes:

[0167] A control module 910, configured to control the environment detection module to turn on if it detects that the vehicle is powered on;

[0168] A detection module 920, configured to control the environment detection module to detect whether there is a target object within a preset range of the vehicle; wherein, the target object is an object that poses a collision risk to the vehicle;

[0169] The control module 910 is further configured to control the vehicle to reverse if it does not detect a target object and detects that the vehicle has a reverse requirement.

[0170] As a possible implementation, the detection module 920 is further configured to detect whether the engine in the vehicle is started if it detects a target object; the control module 910 is further configured to control the vehicle to brake if it detects that the engine is started.

[0171] As a possible implementation, the control device provided in the embodiment of the present application further includes an acquisition module, configured to acquire the duration of detecting a target object; the control module 910 is further configured to control the vehicle to brake if the duration is greater than or equal to a preset duration.

[0172] As a possible implementation, the control module 910 is further configured to control the target vehicle lights of the vehicle to turn on; output a voice alarm message; display a target alarm message on a display device in the vehicle; wherein, the voice alarm message and the target alarm message are used to prompt the user that there is a target object within the preset range.

[0173] As a possible implementation, the control module 910 is further configured to control the target module to turn on if it detects that the vehicle is powered on; wherein, the target control module is used to control the target vehicle lights of the vehicle; the voice module is used to control the vehicle to output voice information; the braking module is used to control the vehicle to brake.

[0174] As a possible implementation, the detection module 920 is specifically configured to send a first signal to the environment detection module to enable the environment detection module to detect whether there is a target object within the preset range; and determine whether there is a target object within the preset range based on the second signal received from the environment detection module.

[0175] As a possible implementation, the detection module 920 is further configured to detect the duration of the second signal; the control module is further configured to control the vehicle to brake if the duration is greater than or equal to a preset duration.

[0176] As a possible implementation, the detection module 920 is further configured to detect the current state of the reverse gear of the vehicle; the control device provided by the embodiment of the present application further includes: a determination module, configured to determine that the vehicle has a reverse requirement if the current state is an on state. If the current state is an off state, it is determined that the vehicle has no reverse requirement.

[0177] It should be noted that when the vehicle control device provided in the above embodiment executes the vehicle control method, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0178] In addition, the vehicle control device provided in the above embodiment and the vehicle control method embodiment belong to the same concept. Therefore, for the details not disclosed in the device embodiment of this specification, please refer to the vehicle control method embodiment in the above of this specification, and will not be elaborated here.

[0179] Figure 10 It is another schematic structural diagram of a vehicle provided by the embodiment of the present application.

[0180] Exemplarily, as Figure 10 shown, the vehicle 1000 includes: a memory 1001 and a processor 1002, wherein, an executable program code 1003 is stored in the memory 1001, and the processor 1002 is configured to call and execute the executable program code 1003 to execute a vehicle control method.

[0181] In addition, the embodiment of the present application also protects a control device, which may include a memory and a processor, wherein, an executable program code is stored in the memory, and the processor is configured to call and execute the executable program code to execute a vehicle control method provided by the embodiment of the present application.

[0182] In this embodiment, the control device can be divided into functional modules according to the above method example. For example, it can correspond to each functional module, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0183] In the case of dividing each functional module corresponding to each function, the control device may further include an acquisition module, a detection module, a processing module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited to the function description of the corresponding functional module, and will not be elaborated here.

[0184] It should be understood that the device provided in this embodiment is used to execute the above-mentioned control method for a vehicle, so the same effects as the above implementation method can be achieved.

[0185] In the case of adopting an integrated unit, the control device may include a processing module and a storage module. Among them, when the control device is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle.

[0186] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in combination with the disclosure of the present application. The processor can also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0187] In addition, the device provided in the embodiment of the present application can specifically be a chip, a component, or a module. The chip may include a connected processor and a memory; among them, the memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a control method for a vehicle provided in the above embodiment.

[0188] This embodiment also provides a computer-readable storage medium. Computer program code is stored in the computer-readable storage medium. When the computer program code runs on a computer, the computer is caused to execute the above-related method steps to implement a control method for a vehicle provided in the above embodiment.

[0189] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-related steps to implement a control method for a vehicle provided in the above embodiment.

[0190] Among them, the device, computer-readable storage medium, computer program product, or chip provided in this embodiment is all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0191] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the above-mentioned division of each functional module is used as an example for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0192] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0193] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method is applied to a vehicle controller; the vehicle includes the vehicle controller and an environment detection module; the vehicle controller is communicatively connected with the environment detection module; the method includes: If it is detected that the vehicle is powered on, controlling the environment detection module to turn on; Controlling the environment detection module to detect whether there is a target object within a preset range of the vehicle; wherein the target object is an object that has a risk of collision with the vehicle; If the target object is not detected and it is detected that the vehicle has a need to reverse, the vehicle is controlled to reverse.

2. The method according to claim 1, characterized in that The method further comprises: If the target object is detected, detecting whether the engine in the vehicle is started; If it is detected that the engine is started, the vehicle is controlled to brake.

3. The method according to claim 1, characterized in that The method further comprises: Obtaining the duration of detecting the target object; If the duration is greater than or equal to a preset duration, the vehicle is controlled to brake.

4. The method according to claim 1, characterized in that If the target object is detected, the method further includes at least one of the following: Controlling the target headlights of the vehicle to turn on; Output voice alarm information; displaying target warning information on a display device in the vehicle; The voice alarm information and the target alarm information are used to prompt the user that the target object exists within the preset range.

5. The method according to any one of claims 1 to 4, characterized in that The vehicle further comprises a target module; the target module comprises at least one of a target control module, a voice module, a display device and a brake module; the vehicle controller is in communication connection with the target module; The method further comprises: If it is detected that the vehicle is powered on, controlling the target module to turn on; Among them, the target control module is used to control the target headlights of the vehicle; the voice module is used to control the vehicle to output voice information; and the braking module is used to control the vehicle to brake.

6. The method according to any one of claims 1 to 4, characterized in that The controlling the environment detection module to detect whether there is a target object within a preset range of the vehicle includes: Sending a first signal to the environment detection module so that the environment detection module detects whether the target object exists within the preset range; Based on receiving the second signal sent by the environment detection module, it is determined whether the target object exists within the preset range.

7. The method according to any one of claims 1 to 4, characterized in that The method further comprises: detecting a current state of a reverse gear of the vehicle; If the current state is the on state, determining that the vehicle has the reversing demand; If the current state is the off state, it is determined that the vehicle does not have the reversing demand.

8. A vehicle control device, characterized in that: The device is applied to a vehicle controller; the vehicle includes the vehicle controller and an environment detection module; the vehicle controller is communicatively connected with the environment detection module; the device includes: A control module, configured to control the environment detection module to turn on if it is detected that the vehicle is powered on; A detection module, used to control the environment detection module to detect whether there is a target object within a preset range of the vehicle; wherein the target object is an object that has a risk of collision with the vehicle; The control module is further configured to control the vehicle to reverse if the target object is not detected and a reverse demand of the vehicle is detected.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a vehicle, the vehicle is caused to perform the method according to any one of claims 1 to 7.

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