Vehicle control method, vehicle and storage medium

Abstract

The invention provides a vehicle control method, a vehicle and a storage medium, the method is applied to the field of vehicles, and the method comprises the steps that whether the vehicle has a collision risk or not is detected; under the condition that the vehicle has the collision risk, whether a preset malicious collision condition is met or not is judged according to the running state of the vehicle; when it is judged that the preset malicious collision condition is met, it is determined that malicious collision events happen to the vehicle, and the accumulated number of times of malicious collision events happening to the vehicle within the preset duration is obtained; if it is detected that the accumulated number of the malicious collision events is larger than a preset number threshold value, the vehicle is controlled to be in a locked state; wherein under the condition that the vehicle is in the locking state, the vehicle is prohibited from being started. The method can effectively avoid further deterioration of accidents such as continuous collision.

Description

Technical Field

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

[0002] In the prior art, the road ahead is monitored in real time by radar and camera equipped on the vehicle. When the risk of collision is detected, the vehicle's automatic emergency braking system will automatically trigger braking, thereby avoiding or reducing the risk of collision. However, frequent vehicle braking will not only affect the user's driving experience, but may also affect the user's driving safety. Therefore, how to improve the user's driving safety and enhance the user's driving experience has become a problem that needs to be solved urgently. Summary of the invention

[0003] The present application provides a vehicle control method, a vehicle and a storage medium, which can effectively prevent accidents such as continuous collisions from further deteriorating.

[0004] In a first aspect, a vehicle control method is provided, the method comprising: detecting whether a vehicle has a collision risk; in the case where the vehicle has a collision risk, judging whether a preset malicious collision condition is satisfied according to the running state of the vehicle; in the case where it is determined that the preset malicious collision condition is satisfied, determining that a malicious collision event has occurred in the vehicle, and obtaining the cumulative number of malicious collision events that have occurred in the vehicle within a preset time period; if it is detected that the cumulative number of malicious collision events is greater than a preset number threshold, controlling the vehicle to be in a locked state; wherein, when the vehicle is in the locked state, starting the vehicle is prohibited.

[0005] The above technical solution, when it is determined that the preset malicious collision conditions are met, determines that the vehicle has a malicious collision event, and at this time, the vehicle will not be directly controlled to be in a locked state, so as to avoid frequent locking of the vehicle due to accidental collisions, thereby affecting the driving experience. After determining that the vehicle has a malicious collision event, the cumulative number of malicious collision events that have occurred in the vehicle within a preset time period is further obtained. If the cumulative number is greater than the preset number threshold, it means that the possibility of accidental collision is small. At this time, the vehicle is controlled to be in a locked state to effectively avoid further deterioration of the malicious collision event. Therefore, by introducing a preset number threshold, the vehicle is controlled to be in a locked state only when the cumulative number of malicious collision events is greater than the preset number threshold, which helps to distinguish between accidental collisions and non-accidental collisions, thereby avoiding frequent locking of the vehicle due to accidental collisions, and ensuring that the vehicle can be locked in time after multiple malicious collisions, effectively preventing the further deterioration of malicious behavior and protecting the safety of the vehicle and its surrounding environment. This mechanism not only improves the driving experience, but also protects the safety of the vehicle and its surrounding environment.

[0006] In combination with the first aspect, in some possible implementations, determining whether a preset malicious collision condition is met based on the operating state of the vehicle includes: determining whether the vehicle is in an accelerating state; if it is determined that the vehicle is in the accelerating state, identifying the collision object of the vehicle; if it is detected that the collision object includes a living object, determining that the preset malicious collision condition is met.

[0007] The above technical solution, by judging whether the vehicle is in an accelerating state and detecting whether the collision object is a pedestrian, can fully consider the driver's intention while also fully considering the personal safety of pedestrians, thereby improving the accuracy and practicality of identifying malicious collisions.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after identifying the collision object of the vehicle, the method also includes: if it is detected that the collision object does not include the living object, determining whether the acceleration of the vehicle is greater than a preset acceleration threshold; if it is determined that the acceleration is greater than the preset acceleration threshold, determining that a preset malicious collision condition is met.

[0009] The above technical solution, when it is determined that the collision object is not a pedestrian, can fully consider the severity of the collision by judging whether the acceleration of the vehicle is greater than a preset acceleration threshold, thereby improving the accuracy of identifying and detecting malicious collisions.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, before determining whether the vehicle is in an accelerating state, it also includes: when the vehicle is at risk of collision, outputting collision warning information, and determining whether the driver has a braking intention under the prompt of the collision warning information; determining whether the vehicle is in an accelerating state includes: if it is determined that the driver does not have the braking intention, determining whether the vehicle is in an accelerating state.

[0011] The above technical solution immediately outputs collision warning information when there is a risk of collision between the vehicle and the driver, so as to remind the driver and provide the driver with reaction time, thereby effectively reducing the occurrence of collision accidents or reducing the severity of the collision. In addition, it is determined whether the driver has the intention to brake after receiving the collision warning information. If it is determined that the driver has no intention to brake, it is determined whether the accelerator pedal is in an accelerated state. This method can improve the accuracy of judging malicious collision events to a certain extent.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle includes a malicious collision counter, which, when it is determined that the preset malicious collision condition is met, determines that the vehicle has a malicious collision event, and obtains the cumulative number of malicious collision events that have occurred in the vehicle within a preset time period, including: when it is determined that the preset malicious collision condition is met, determines that the vehicle has a malicious collision event, and updates the count value of the malicious collision counter; takes the moment when the count value is 1 as the target update moment, and obtains the accumulated count value of the malicious collision counter within the preset time period after the target update moment; uses the accumulated count value of the malicious collision counter as the cumulative number of malicious collision events that have occurred in the vehicle within the preset time period.

[0013] The above technical scheme records the number of malicious collision events that occur to the vehicle under certain conditions by setting a malicious collision counter. When the vehicle meets the preset malicious collision conditions, it is determined that a malicious collision event has occurred to the vehicle. At this time, the count value of the malicious collision counter will be updated. The moment when the count value is updated to 1 is used as the starting point. The count value accumulated by the malicious collision counter in the subsequent preset time period is counted. The accumulated count value represents the cumulative number of malicious collision events that occur to the vehicle within the preset time period. This method can record the number of malicious collision events that occur to the vehicle in real time and accurately, and through the cumulative counting method, it can more intuitively understand the situation of malicious collisions occurring to the vehicle over a period of time.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after taking the accumulated count value of the malicious collision counter as the accumulated number of malicious collision events occurring within the preset time period for the vehicle, it also includes: if it is detected that the accumulated number of malicious collision events is less than or equal to the preset number threshold, the accumulated count value of the malicious collision counter is cleared.

[0015] In the above technical solution, if the cumulative number does not exceed the preset number threshold, although a malicious collision event has occurred, it has not reached the severity of triggering the vehicle locking state. At this time, you can consider clearing the cumulative number to avoid unnecessary interference and misjudgment, and improve the flexibility of dealing with malicious collision events.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, if the cumulative number of malicious collision events detected is greater than a preset number threshold, the method also includes: if it is determined that the door of the vehicle is in a locked state, the locking state of the door is released, and an alarm is issued through an emergency call service.

[0017] The above technical solution, when the cumulative number of malicious collision incidents exceeds a preset threshold, ensures that the people in the car can be evacuated safely by unlocking the door, and alarms through emergency call services, so that rescue personnel can respond quickly and implement rescue, and provide timely assistance to the people in the car, thereby improving driving safety.

[0018] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, after controlling the vehicle to be in a locked state, it also includes: if it is determined that the vehicle is currently free from the collision risk, releasing the locked state of the vehicle.

[0019] In the above technical solution, if it is determined that the current vehicle has eliminated the collision risk, that is, there is no further collision threat, the locked state of the vehicle is released to restore the vehicle to normal use, thereby improving the user experience.

[0020] In a second aspect, a vehicle control device is provided, which includes: a detection module for detecting whether there is a collision risk in the vehicle; a judgment module for judging whether a preset malicious collision condition is satisfied according to the running state of the vehicle when the vehicle is at risk of collision; a determination module for determining whether a malicious collision event has occurred in the vehicle when it is determined that the preset malicious collision condition is satisfied, and obtaining the cumulative number of malicious collision events that have occurred in the vehicle within a preset time period; a control module for controlling the vehicle to be in a locked state if the cumulative number of malicious collision events detected is greater than a preset number threshold; wherein, when the vehicle is in the locked state, the vehicle is prohibited from starting.

[0021] In combination with the second aspect, in certain implementations of the second aspect, the judgment module is specifically used to: judge whether a preset malicious collision condition is met based on the operating state of the vehicle, including: judging whether the vehicle is in an acceleration state; if it is determined that the vehicle is in the acceleration state, identifying the collision object of the vehicle; if it is detected that the collision object includes a living object, determining that the preset malicious collision condition is met.

[0022] In combination with the second aspect, in certain implementations of the second aspect, the judgment module is specifically used to: after identifying the collision object of the vehicle, the method also includes: if it is detected that the collision object does not include the living object, determining whether the acceleration of the vehicle is greater than a preset acceleration threshold; if it is determined that the acceleration is greater than the preset acceleration threshold, determining that a preset malicious collision condition is met.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the device also includes an output module, which is specifically used to: before determining whether the vehicle is in an accelerating state, it also includes: when there is a risk of collision with the vehicle, output collision warning information, and determine whether the driver has the intention to brake under the prompt of the collision warning information; determining whether the vehicle is in an accelerating state includes: if it is determined that the driver does not have the braking intention, then determining whether the vehicle is in an accelerating state.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the device determination module is specifically used for: the vehicle includes a malicious collision counter, and when it is determined that the preset malicious collision condition is met, it is determined that the vehicle has a malicious collision event, and the cumulative number of malicious collision events that have occurred in the vehicle within a preset time length is obtained, including: when it is determined that the preset malicious collision condition is met, it is determined that the vehicle has a malicious collision event, and the count value of the malicious collision counter is updated; the moment when the count value is 1 is used as the target update moment, and the count value accumulated by the malicious collision counter within the preset time length after the target update moment is obtained; the count value accumulated by the malicious collision counter is used as the cumulative number of malicious collision events that have occurred in the vehicle within the preset time length.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the device also includes a clearing module, which is specifically used to: after using the accumulated count value of the malicious collision counter as the accumulated number of malicious collision events occurring within a preset time period for the vehicle, it also includes: if it is detected that the accumulated number of malicious collision events is less than or equal to the preset number threshold, the accumulated count value of the malicious collision counter is cleared.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the device also includes a first release module, which is specifically used to: if the cumulative number of malicious collision events detected is greater than a preset number threshold, the method also includes: if it is determined that the door of the vehicle is in a locked state, then the locking state of the door is released, and an alarm is issued through an emergency call service.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the device also includes a second release module, which is specifically used to: after controlling the vehicle to be in a locked state, it also includes: if it is determined that the current vehicle has eliminated the collision risk, then release the locked state of the vehicle.

[0028] In a third aspect, a vehicle is provided, comprising 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 of the first aspect.

[0029] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0030] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0032] Figure 2 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0033] Figure 3 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0034] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0036] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0037] To facilitate understanding of the embodiments of the present application, the technical terms involved in the embodiments of the present application are first explained below.

[0038] Vehicle warning system: It is an important part of the vehicle. It monitors the vehicle's surrounding environment in real time and issues warnings to the driver in potential dangers. Usually, the vehicle warning system mainly includes sound warning system, light warning system, steering wheel vibration warning system, etc.

[0039] Acoustic Warning System: A warning system that alerts the driver to potential danger by emitting an audible signal. For example: Acoustic Vehicle Alerting System (AVAS).

[0040] Light warning system: A warning system that sends out warning signals by changing the vehicle's lighting status.

[0041] Steering wheel vibration warning system: A warning system that alerts the driver to potential dangers by vibrating the steering wheel. For example, Lane Keeping Assist System (LKAS).

[0042] Intelligent driving system: A system that mainly uses on-board sensors (including cameras, millimeter-wave radars, lidars, ultrasonic radars, etc.) and controllers, actuators, etc. to autonomously control the vehicle to achieve certain functions. Generally, intelligent driving systems have the advantages of high automation, high safety, good comfort, and environmentally friendly street lights.

[0043] Accelerometer: A sensor used to measure the acceleration of a vehicle while it is driving. It helps to achieve vehicle safety protection and performance improvement by measuring the acceleration of the vehicle. In the vehicle "safety collision test", the accelerometer can record a large number of data points at the moment of collision, with a maximum range of extremely high values ​​(such as 100,000G) and strong impact resistance.

[0044] Malicious collision counter: A device or algorithm used to monitor and record the cumulative number of malicious collision events.

[0045] Smart front-view camera: a camera used to monitor the road ahead. It can identify the road ahead, vehicles, pedestrians, traffic signs, etc., and provide the driver with a comprehensive field of view. This type of camera is usually installed on the windshield or the rearview mirror. The vehicle is equipped with one or more front-view cameras depending on the model.

[0046] Ultrasonic radar: a type of radar that uses high-frequency sound waves (usually beyond the audible range of the human ear) to measure distance and detect targets. It determines the distance, direction and speed of the target by generating ultrasonic signals and receiving signals reflected from the target. This type of radar has high accuracy, low power consumption, is not easily affected by environmental interference and is low cost.

[0047] Millimeter wave radar: a radar that uses millimeter waves for detection and ranging. It usually transmits millimeter wave signals through an antenna and receives signals reflected from target objects to extract information such as the distance, speed, and angle of the target object through the signals.

[0048] Infrared thermal imager: an instrument that can convert invisible infrared energy emitted by the target into visible thermal images. It is usually used to detect whether the target is a living object.

[0049] Face liveness detection instrument: a device that uses infrared thermal imaging technology to verify whether a face is alive. It determines whether the face is real and alive by analyzing information such as the temperature distribution and texture characteristics of the face.

[0050] Small animal live imaging device: a device that uses infrared thermal imaging technology to monitor small animals in vivo.

[0051] In the prior art, the road ahead is monitored in real time by radar and camera equipped on the vehicle. When the risk of collision is detected, the vehicle's automatic emergency braking system will automatically trigger braking, thereby avoiding or reducing the risk of collision. However, frequent vehicle braking will not only affect the user's driving experience, but may also affect the user's driving safety. Therefore, how to improve the user's driving safety and enhance the user's driving experience has become a problem that needs to be solved urgently.

[0052] In order to at least solve the above-mentioned problems, an embodiment of the present application provides a vehicle control method, which can effectively prevent accidents such as continuous collisions from further deteriorating.

[0053] Figure 1 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0054] For example, Figure 1 As shown, the method 100 includes:

[0055] Step 101, detecting whether the vehicle has a collision risk.

[0056] Step 102, when there is a risk of collision with the vehicle, determine whether a preset malicious collision condition is met according to the operating state of the vehicle.

[0057] Step 103, when it is determined that the preset malicious collision conditions are met, it is determined that the vehicle has a malicious collision event, and the cumulative number of malicious collision events that have occurred in the vehicle within a preset time period is obtained.

[0058] Step 104: if the cumulative number of malicious collision events detected is greater than a preset number threshold, the vehicle is controlled to be in a locked state; wherein, when the vehicle is in the locked state, the vehicle is prohibited from starting.

[0059] In the embodiment of the present application, when it is determined that the preset malicious collision conditions are met, it is determined that the vehicle has a malicious collision event. At this time, the vehicle will not be directly controlled to be in a locked state, so as to avoid frequent locking of the vehicle due to accidental collisions, thereby affecting the driving experience. After determining that the vehicle has a malicious collision event, the cumulative number of malicious collision events that have occurred in the vehicle within a preset time period is further obtained. If the cumulative number is greater than the preset number threshold, it means that the possibility of accidental collision is small. At this time, the vehicle is controlled to be in a locked state to effectively avoid further deterioration of the malicious collision event. Therefore, by introducing a preset number threshold, the vehicle is controlled to be in a locked state only when the cumulative number of malicious collision events is greater than the preset number threshold, which helps to distinguish between accidental collisions and non-accidental collisions, thereby avoiding frequent locking of the vehicle due to accidental collisions, and ensuring that the vehicle can be locked in time after multiple malicious collisions, effectively preventing the malicious behavior from further deteriorating, and protecting the safety of the vehicle and its surrounding environment. This mechanism not only improves the driving experience, but also protects the safety of the vehicle and its surrounding environment.

[0060] Below Figure 1 The implementation method of each step in the illustrated embodiment is specifically described.

[0061] As for step 101, it is understandable that the above detection of whether the vehicle has a collision risk can be determined using the vehicle's intelligent front-view camera or ultrasonic radar.

[0062] The above-mentioned intelligent front-view camera is a type of vehicle-mounted camera, which is mainly used to monitor the situation ahead of the road. It uses image sensors and image processing technology to identify the road ahead, vehicles, pedestrians, and traffic signs, etc., and provides real-time driving assistance information to the driver. When the vehicle is driving forward on the road, the intelligent front-view camera identifies the distance between the vehicle ahead and the obstacle and the vehicle. If the distance is less than the safety distance threshold, it determines that there is a risk of collision.

[0063] The ultrasonic radar emits ultrasonic waves through an ultrasonic transmitter and receives ultrasonic signals reflected by obstacles. The distance between the target and the radar is determined by calculating the round-trip time difference of the ultrasonic signal. If the detected distance is less than the safety distance threshold, it is determined that there is a risk of collision. The ultrasonic radar is usually installed on the front or side of the vehicle (such as on the bumper) to ensure that obstacles in front can be detected.

[0064] Regarding step 102, it can be understood that the operating state of the vehicle refers to various states exhibited by the vehicle during operation, and the operating state may include: accelerator pedal state, brake pedal state, and vehicle acceleration, etc.

[0065] In some embodiments, based on the operating state of the vehicle, determining whether a preset malicious collision condition is met includes: determining whether the vehicle is in an accelerating state; if it is determined that the vehicle is in an accelerating state, identifying the collision object of the vehicle; if it is detected that the collision object includes a living object, determining that the preset malicious collision condition is met.

[0066] It can be understood that the above judgment of whether the vehicle is in an accelerating state can be determined by the vehicle acceleration and the accelerator pedal state. The vehicle acceleration can be obtained by the acceleration sensor. If it is detected that the accelerator pedal opening is greater than zero and the vehicle acceleration is greater than zero, it is determined that the vehicle is in an accelerating state.

[0067] When the vehicle is in an accelerating state, the method of determining whether the preset malicious collision condition is met can be determined according to the collision object. The above-mentioned collision object may include a living object, a vehicle, a roadblock, and the like.

[0068] When detecting the collision object, an infrared thermal imager can be used to determine whether the collision object is a living object. Specifically, a face liveness detection instrument can be used to determine whether the collision object is a pedestrian, and a small animal liveness imaging device can be used to determine whether the collision object is an animal.

[0069] If the collision object is detected to be a living object, considering the life safety of the living object, it is directly determined that the preset malicious collision condition is met. If the collision object is detected to be not a living object, in order to increase the efficiency of the determination, other judgment conditions need to be considered.

[0070] In some embodiments, after identifying the collision object of the vehicle, it also includes: if it is detected that the collision object does not include a living object, determining whether the acceleration of the vehicle is greater than a preset acceleration threshold; if it is determined that the acceleration is greater than the preset acceleration threshold, determining that the preset malicious collision condition is met.

[0071] It is understandable that the acceleration of the vehicle can be obtained by an acceleration sensor, and the preset acceleration threshold can be pre-calibrated to measure the severity of the collision of the vehicle. Optionally, the preset acceleration threshold can be pre-calibrated to 6G.

[0072] In addition to the above-mentioned determination method, real-time monitoring or radar technology can also be used to determine whether the vehicle meets the malicious collision conditions.

[0073] The above-mentioned use of real-time monitoring to determine whether a vehicle meets the malicious collision conditions may include:

[0074] Monitoring equipment is installed on major traffic routes or key areas with high population density to capture the vehicle's driving status in real time. If a vehicle collision is detected and the vehicle has engaged in malicious behaviors such as intentional cutting in or sudden braking, the vehicle is determined to have met the malicious collision conditions.

[0075] The above-mentioned use of radar technology to determine whether a vehicle meets the malicious collision conditions may include:

[0076] By using millimeter-wave radar to emit and receive millimeter waves, the distance between the vehicle and surrounding obstacles and the orientation of surrounding obstacles and other information are measured in real time. If it is detected that the distance between the vehicle and the surrounding obstacles is rapidly decreasing and the above distance is less than the preset distance threshold, and an abnormal speed change is detected, the vehicle is determined to meet the malicious collision conditions.

[0077] In addition, it is also possible not to consider the impact of the collision object, that is, to directly determine whether the vehicle is in an accelerating state and whether the acceleration of the vehicle is greater than a preset acceleration threshold.

[0078] In some embodiments, based on the operating state of the vehicle, it is determined whether a preset malicious collision condition is met, including: determining whether the vehicle is in an accelerating state; determining whether the acceleration of the vehicle is greater than a preset acceleration threshold; if it is determined that the vehicle is in an accelerating state and the acceleration is greater than a preset acceleration threshold, then it is determined that the preset malicious collision condition is met.

[0079] In some embodiments, before determining whether the vehicle is in an accelerating state, it also includes: when the vehicle is at risk of collision, outputting collision warning information, and determining whether the driver has the intention to brake under the prompt of the collision warning information; determining whether the vehicle is in an accelerating state includes: if it is determined that the driver has no intention to brake, determining whether the vehicle is in an accelerating state.

[0080] It can be understood that the above-mentioned collision warning information is used to remind the driver that the vehicle is about to collide. The above-mentioned methods of outputting collision warning information include but are not limited to voice reminders, vibration reminders and pop-up reminders. The above-mentioned reminder information can be output using the display on the vehicle. The above-mentioned display includes but is not limited to HUT (Head Unit Terminal), auxiliary instrument and HUD (Head-Up Display), and can also be other displays that can output reminder information. There is no limitation on the choice of display in the embodiment of the present application.

[0081] The above judgment of whether the driver has a braking intention can be determined by the state of the brake pedal. If it is detected that the driver steps on the brake pedal, that is, it is detected that the brake pedal opening is greater than zero, it is determined that the driver has a braking intention.

[0082] When judging whether the driver has the intention to brake, it can also be determined by the state of the accelerator pedal. If it is detected that the driver releases the accelerator pedal, that is, it is detected that the accelerator pedal opening is equal to zero, it can also be determined that the driver has the intention to brake.

[0083] For step 103, it can be understood that when it is determined that the preset malicious collision conditions are met, it is determined that the vehicle has a malicious collision event, and a single event can be stored for a preset time length to facilitate subsequent acquisition of the cumulative number of times. The above preset time length can be pre-calibrated, and optionally, the preset time length can be pre-calibrated to 1 hour.

[0084] The above-mentioned acquisition of the cumulative number of malicious collision incidents that occur to the vehicle within a preset time period can be understood as: checking the cumulative number of malicious collision incidents that occurred within 1 hour before the occurrence of the current malicious collision incident; it can also be understood as: checking the cumulative number of malicious collision incidents that occurred within 1 hour after the occurrence of the current malicious collision incident.

[0085] For the convenience of description below, it is uniformly understood as: checking the cumulative number of malicious collision events that occurred within 1 hour after the occurrence of the current malicious collision event.

[0086] In some embodiments, the vehicle includes a malicious collision counter. When it is determined that a preset malicious collision condition is met, it is determined that a malicious collision event has occurred in the vehicle, and the cumulative number of malicious collision events that have occurred in the vehicle within a preset time period is obtained, including: when it is determined that a preset malicious collision condition is met, it is determined that a malicious collision event has occurred in the vehicle, and the count value of the malicious collision counter is updated; the moment when the count value is 1 is used as the target update moment, and the count value accumulated by the malicious collision counter within the preset time period after the target update moment is obtained; the count value accumulated by the malicious collision counter is used as the cumulative number of malicious collision events that have occurred in the vehicle within the preset time period.

[0087] It can be understood that the above target update time can be understood as the starting time of the preset duration, that is, the starting time of 1 hour.

[0088] When it is determined that a malicious collision event has occurred in the vehicle, the count value of the malicious collision counter is updated, that is, the malicious collision counter is increased by 1. If the updated count value is 1, it means that the current malicious collision event is the first time. At this time, the time when the count value of the malicious collision counter is 1 is taken as the start time of 1 hour, and the accumulated count value of the malicious collision counter within 1 hour after the start time is obtained, and finally the count value is taken as the cumulative number of malicious collision events that have occurred in the vehicle within 1 hour.

[0089] For step 104, it is understood that the above-mentioned preset number threshold can be pre-calibrated to measure whether the vehicle driver intentionally collides with malicious intent. Optionally, the above-mentioned preset number threshold can be pre-calibrated to 2. If the cumulative number is greater than 2, it is determined that the vehicle driver intentionally collides with malicious intent.

[0090] When selecting the preset number of thresholds, it is necessary to balance driving experience and driving safety. If the preset number of thresholds is too low, it is easy to cause frequent locking of the vehicle, affecting the driving experience. However, if the preset number of thresholds is too high, the vehicle may not be locked in time, affecting driving safety and causing some safety risks to the driver, the vehicle and the surrounding environment of the vehicle.

[0091] Considering the possibility of a collision due to a driver's driving error, if the preset number threshold is set to 1, although it can quickly respond to this malicious collision event, it is easy to cause frequent vehicle locking, thus affecting the driving experience; however, if the preset number threshold is set to a number greater than or equal to 3, although frequent vehicle locking is avoided, it will cause the vehicle to respond slowly to malicious collision events, which will affect driving safety to a certain extent. Taking the above factors into consideration, an intermediate value can be selected as the preset number threshold. For example, setting the preset number threshold to 2 can better balance the driving experience and driving safety, which can effectively protect the safety of the driver, the vehicle and its surrounding environment, and avoid frequent vehicle locking.

[0092] The above-mentioned preset number threshold can also be determined according to the flow of people and vehicles on the road where the vehicle is located. If the flow of people and vehicles is large, the preset number threshold can be lowered to avoid greater losses after a malicious collision; if the flow of people and vehicles is small, the preset number threshold can be increased to improve the efficiency of triggering vehicle locking. For example, if the flow of people and vehicles is large, the number threshold can be lowered to 1; if the flow of people and vehicles is small, the number threshold can be increased to 3.

[0093] The locking state refers to the state of locking the vehicle and prohibiting the power source from starting, so as to achieve the purpose of prohibiting the vehicle from starting again. If the vehicle is a pure electric vehicle, the motor is prohibited from starting, and if the vehicle is a hybrid vehicle, the engine and motor are prohibited from starting.

[0094] In some embodiments, if the cumulative number of malicious collision events detected is greater than a preset number threshold, the method further includes: if it is determined that the vehicle door is in a locked state, unlocking the door and sending an alarm through an emergency call service.

[0095] It is understandable that whether the vehicle is in a locked state can be determined by a door lock sensor, which is usually located on the inside of the door and is used to detect the mechanical position of the door lock to determine whether the door is locked.

[0096] If the door is detected to be locked, it needs to be unlocked to facilitate the driver to escape from the vehicle in time after an intentional or malicious collision to ensure his own safety. The vehicle's intelligent driving system will alarm through ECALL (Emergency Call) so that police officers can implement rescue in time.

[0097] In some embodiments, after controlling the vehicle to be in a locked state, the method further includes: if it is determined that the current vehicle is free from collision risk, releasing the locked state of the vehicle.

[0098] It is understandable that if the background service personnel of the intelligent driving system and the police officers jointly confirm that the collision risk has been eliminated, a risk elimination signal will be sent to the vehicle controller, so that the vehicle controller controls the vehicle to be unlocked.

[0099] In some embodiments, due to the infrared thermal imager used in determining the collision object, there is a certain probability that the non-living object will be detected as a living object when detecting a non-living object, resulting in the vehicle being mistakenly triggered to be in a locked state. Therefore, it is possible to consider setting an unlocking interface on the display screen inside the vehicle, so that the driver can unlock the vehicle in time in case of accidental touch, so that the vehicle can drive normally. The interface should include an unlock button or unlock icon, as well as possible unlock confirmation prompts (such as passwords, fingerprints, facial recognition, etc.), and in order to ensure driving safety, the vehicle must be in a safe state before unlocking, such as tightening the handbrake, etc., to avoid the vehicle from rushing forward or backward after unlocking. When the driver successfully unlocks the vehicle, the display screen must also provide clear feedback information, such as displaying a prompt message such as "the vehicle has been unlocked", and it is also possible to consider adding additional auxiliary feedback information such as sound and light, so that the driver can obtain the status of the vehicle in time.

[0100] For the vehicle, whether it receives a risk release signal sent by backstage service personnel and police personnel, or receives an unlock signal sent by the driver, the vehicle's whole vehicle controller must respond to the above signal in a timely manner to complete the unlocking of the vehicle, so that the driver can drive the vehicle.

[0101] In some embodiments, after taking the accumulated count value of the malicious collision counter as the accumulated number of malicious collision events occurring within a preset time period, it also includes: if the accumulated number of malicious collision events detected is less than or equal to a preset number threshold, the accumulated count value of the malicious collision counter is cleared.

[0102] It is understandable that within 1 hour after the first malicious collision event, if the cumulative number of detected times is less than or equal to the preset number threshold, it means that the vehicle has not had an intentional malicious collision event, and the previous malicious collision event was misidentified or caused an accident due to the driver's driving error. At this time, the accumulated count value of the malicious collision counter needs to be cleared in time to avoid the vehicle being locked due to the superposition of count values. The above clearing of the accumulated count value of the malicious collision counter can be understood as clearing the accumulated number of malicious collision counters.

[0103] Exemplarily, within 1 hour after the first malicious collision event occurs, if the accumulated number is detected to be less than or equal to 2, the accumulated number is reset to zero.

[0104] The following is a more specific description of the embodiment of the present application by taking the preset duration of 1 hour as an example:

[0105] Figure 2 It is a schematic flow chart of another vehicle control method provided in an embodiment of the present application.

[0106] For example, Figure 2 As shown, the method 200 includes:

[0107] Step 201, determine whether there is a collision risk. If yes, proceed to step 202, otherwise, end the process.

[0108] Step 202: output collision warning information.

[0109] It is understandable that the vehicle warning system can be used for sound warning, light warning, vibration warning, etc. For example, the sound warning system is used to send a sound signal; the light warning system is used to change the light state of the vehicle; and the steering wheel vibration warning system is used to vibrate the steering wheel to remind.

[0110] Step 203, determine whether the driver has a braking intention under the prompt of the collision warning information. If yes, then end the process, otherwise, execute step 205.

[0111] Step 204, determine whether the acceleration of the vehicle is greater than a preset acceleration threshold. If yes, execute step 207, otherwise execute step 206.

[0112] Step 205, determine whether the vehicle is in an accelerating state. If yes, execute step 207, otherwise execute step 206.

[0113] Step 206, determining that the vehicle has not been involved in a malicious collision.

[0114] Step 207, determining whether a malicious collision occurs to the vehicle, and updating the count value of the malicious collision counter.

[0115] It can be understood that each time a malicious collision is determined to have occurred in the vehicle, the malicious collision counter is incremented by 1.

[0116] Step 208: Taking the time when the count value is 1 as the target update time, obtaining the count value accumulated by the malicious collision counter within 1 hour after the target update time.

[0117] Step 209: The count value accumulated by the malicious collision counter is used as the accumulated number of malicious collision events that occur to the vehicle within 1 hour.

[0118] Step 210 , determining whether the cumulative number of malicious collision events is greater than a preset number threshold. If yes, executing step 211 , otherwise executing step 215 .

[0119] Step 211, control the vehicle to be in a locked state.

[0120] It is understandable that the intelligent driving system sends a vehicle locking signal to the vehicle controller to put the vehicle in a locked state.

[0121] Step 212: If it is determined that the vehicle door is in a locked state, the door is unlocked.

[0122] Step 213, alarm is issued via ECALL.

[0123] Step 214: If it is determined that the current vehicle has eliminated the collision risk, the locked state of the vehicle is released.

[0124] Step 215: clear the accumulated number of malicious collision counters.

[0125] In summary, the vehicle control method provided by the embodiment of the present application has the following beneficial effects:

[0126] First, the intelligent forward-looking camera and ultrasonic radar are used to detect the collision risks around the vehicle in real time, and collision warning information is output in a timely manner when the collision risk exists, providing the driver with reaction time, effectively reducing the occurrence of collision accidents or reducing the severity of collisions. When the cumulative number of collisions exceeds the preset number threshold, the vehicle is immediately locked and the vehicle is prohibited from starting, thereby effectively preventing further deterioration of the accident and improving driving safety.

[0127] Second, if multiple malicious collision incidents occur continuously within a preset time period, the vehicle driver will be judged as intentionally causing malicious collisions. At this time, the vehicle needs to be locked and an ECALL alarm is issued to promptly notify the background service personnel and police service of the intelligent driving system for processing. Only after confirming that the risk has been eliminated can the lock state be released so that the vehicle can be restored to normal use, effectively responding to malicious collision incidents while improving the user experience.

[0128] Figure 3 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0129] For example, Figure 3 As shown, the device 300 includes:

[0130] A detection module 301 is used to detect whether the vehicle has a collision risk;

[0131] The judgment module 302 is used to judge whether a preset malicious collision condition is met according to the running state of the vehicle when there is a collision risk of the vehicle;

[0132] The determination module 303 is used to determine that a malicious collision event occurs on the vehicle when it is determined that a preset malicious collision condition is met, and obtain the cumulative number of malicious collision events that occur on the vehicle within a preset time period;

[0133] The control module 304 is used to control the vehicle to be in a locked state if the cumulative number of malicious collision events detected is greater than a preset number threshold; wherein, when the vehicle is in the locked state, the vehicle is prohibited from starting.

[0134] In one possible implementation, the judgment module is specifically used to: judge whether a preset malicious collision condition is met based on the operating state of the vehicle, including: judging whether the vehicle is in an accelerating state; if it is determined that the vehicle is in an accelerating state, identifying the collision object of the vehicle; if it is detected that the collision object includes a living object, determining that the preset malicious collision condition is met.

[0135] In one possible implementation, the judgment module is specifically used to: after identifying the collision object of the vehicle, it also includes: if it is detected that the collision object does not include a living object, then judging whether the acceleration of the vehicle is greater than a preset acceleration threshold; if it is determined that the acceleration is greater than the preset acceleration threshold, then determining that the preset malicious collision condition is met.

[0136] In one possible implementation, the device also includes an output module, which is specifically used to: before determining whether the vehicle is in an accelerating state, it also includes: when the vehicle is at risk of collision, output collision warning information, and determine whether the driver has a braking intention under the prompt of the collision warning information; determine whether the vehicle is in an accelerating state, including: if it is determined that the driver has no braking intention, determine whether the vehicle is in an accelerating state.

[0137] In one possible implementation, the device determination module is specifically used for: the vehicle includes a malicious collision counter, and when it is determined that a preset malicious collision condition is met, it is determined that a malicious collision event occurs in the vehicle, and the cumulative number of malicious collision events that occur in the vehicle within a preset time length is obtained, including: when it is determined that a preset malicious collision condition is met, it is determined that a malicious collision event occurs in the vehicle, and the count value of the malicious collision counter is updated; the moment when the count value is 1 is used as the target update moment, and the count value accumulated by the malicious collision counter within the preset time length after the target update moment is obtained; the count value accumulated by the malicious collision counter is used as the cumulative number of malicious collision events that occur in the vehicle within the preset time length.

[0138] In one possible implementation, the device also includes a clearing module, which is specifically used to: after using the accumulated count value of the malicious collision counter as the accumulated number of malicious collision events that occur in the vehicle within a preset time period, it also includes: if the accumulated number of malicious collision events is detected to be less than or equal to a preset number threshold, the accumulated count value of the malicious collision counter is cleared.

[0139] In one possible implementation, the device also includes a first release module, which is specifically used to: if the cumulative number of malicious collision events detected is greater than a preset number threshold, the method also includes: if it is determined that the vehicle door is in a locked state, then the door is unlocked and an alarm is issued through an emergency call service.

[0140] In a possible implementation, the device further includes a second release module, which is specifically used to: after controlling the vehicle to be in a locked state, further include: if it is determined that the current vehicle has eliminated the collision risk, then release the locked state of the vehicle.

[0141] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0142] For example, Figure 4As shown, the vehicle 400 includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a vehicle control method.

[0143] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle control method provided by an embodiment of the present application.

[0144] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, 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 schematic and is only a logical function division. There may be other division methods in actual implementation.

[0145] In the case of dividing each functional module according to each function, the device may also include a detection module, a judgment module, a determination module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0146] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0147] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes, etc.

[0148] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements 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 may be a memory.

[0149] In addition, the device provided in the embodiments of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0150] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0151] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0152] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is 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 repeated here.

[0153] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0154] 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 only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0155] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Detect whether the vehicle is at risk of collision; In the case where the vehicle is at risk of collision, judging whether a preset malicious collision condition is met according to the running state of the vehicle; In the case where it is determined that the preset malicious collision condition is met, determining that a malicious collision event occurs to the vehicle, and obtaining the cumulative number of malicious collision events that occur to the vehicle within a preset time period; If it is detected that the accumulated number of malicious collision events is greater than a preset number threshold, the vehicle is controlled to be in a locked state; wherein, when the vehicle is in the locked state, the vehicle is prohibited from starting.

2. The method according to claim 1, characterized in that The determining, based on the running state of the vehicle, whether a preset malicious collision condition is met includes: Determining whether the vehicle is in an accelerating state; If it is determined that the vehicle is in the acceleration state, identifying a collision object of the vehicle; If it is detected that the collision object includes a living object, it is determined that a preset malicious collision condition is met.

3. The method according to claim 2, characterized in that After identifying the collision object of the vehicle, the method further includes: If it is detected that the collision object does not include the living object, determining whether the acceleration of the vehicle is greater than a preset acceleration threshold; If it is determined that the acceleration is greater than the preset acceleration threshold, it is determined that the preset malicious collision condition is met.

4. The method according to claim 2, characterized in that: Before determining whether the vehicle is in an accelerating state, the method further includes: When the vehicle is at risk of collision, outputting collision warning information, and determining whether the driver has a braking intention under the prompt of the collision warning information; The determining whether the vehicle is in an accelerating state comprises: If it is determined that the driver does not have the braking intention, it is determined whether the vehicle is in an accelerating state.

5. The method according to claim 1, characterized in that The vehicle includes a malicious collision counter, which determines that a malicious collision event occurs on the vehicle when it is determined that the preset malicious collision condition is met, and obtains the cumulative number of malicious collision events that occur on the vehicle within a preset time period, including: When it is determined that the preset malicious collision condition is met, determining that a malicious collision event occurs to the vehicle, and updating the count value of the malicious collision counter; Taking the moment when the count value is 1 as the target update moment, obtaining the count value accumulated by the malicious collision counter within a preset time after the target update moment; The count value accumulated by the malicious collision counter is used as the accumulated number of malicious collision events occurring to the vehicle within a preset time period.

6. The method according to claim 5, characterized in that After the count value accumulated by the malicious collision counter is used as the accumulated number of malicious collision events occurring to the vehicle within a preset time period, the method further includes: If the accumulated number of malicious collision events detected is less than or equal to the preset number threshold, the accumulated count value of the malicious collision counter is cleared.

7. The method according to claim 1, characterized in that If the cumulative number of malicious collision events detected is greater than a preset number threshold, the method further includes: If it is determined that the vehicle door is in a locked state, the door is unlocked and an emergency call service is used to alert an alarm.

8. The method according to claim 1, characterized in that After controlling the vehicle to be in a locked state, the method further includes: If it is determined that the current vehicle has eliminated the collision risk, the locked state of the vehicle is released.

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 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 8 is implemented.

Images