A vehicle control method, a vehicle, and a storage medium

Abstract

This application provides a vehicle control method, a vehicle, and a storage medium. The method, applied in the field of vehicles, includes: detecting whether a collision risk exists in the vehicle; if a collision risk exists, determining whether preset malicious collision conditions are met based on the vehicle's operating state; if the preset malicious collision conditions are met, determining that a malicious collision event has occurred and acquiring the cumulative number of malicious collision events within a preset time period; if the cumulative number of malicious collision events exceeds a preset threshold, controlling the vehicle to be locked; wherein, while the vehicle is locked, starting the vehicle is prohibited. This method can effectively prevent further escalation of accidents such as continuous collisions.

Description

Technical Field

[0001] This 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 Technology

[0002] In existing technologies, when a collision risk is detected, it is impossible to accurately determine whether malicious actions such as consecutive collisions have occurred. However, such actions can affect the driving safety of users. Therefore, how to effectively avoid such actions has become an urgent problem to be solved. Summary of the Invention

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

[0004] Firstly, a vehicle control method is provided, comprising: detecting whether a vehicle has a collision risk; if the vehicle has a collision risk, determining whether a preset malicious collision condition is met based on the vehicle's operating state; if the preset malicious collision condition is met, determining that a malicious collision event has occurred, and obtaining the cumulative number of malicious collision events that have occurred within a preset time period; if the cumulative number of malicious collision events is detected to be greater than a preset 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 aforementioned technical solution determines that a malicious collision event has occurred when the preset malicious collision conditions are met. However, it does not immediately lock the vehicle, avoiding frequent locking due to accidental collisions that could negatively impact the driving experience. Instead, after confirming a malicious collision event, it accumulates the number of such events within a preset timeframe. If this accumulated number exceeds a preset threshold, the likelihood of an accidental collision is considered low, and the vehicle is then locked to effectively prevent further escalation of the malicious collision. Therefore, by introducing a preset threshold, locking the vehicle only when the accumulated number of malicious collision events exceeds this threshold helps distinguish between accidental and non-accidental collisions. This avoids frequent locking due to accidental collisions and ensures timely locking after multiple malicious collisions, effectively preventing further escalation of malicious behavior and protecting the vehicle and its surrounding environment. This mechanism not only improves the driving experience but also protects the safety of the vehicle and its surroundings.

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

[0007] The above technical solution, by determining whether the vehicle is accelerating and detecting whether the collision object is a pedestrian, fully considers the driver's intentions while also taking into account 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 implementation methods, in some possible implementation methods, 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, then 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, then 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 vehicle's acceleration is greater than a preset acceleration threshold, thereby improving the accuracy of identifying and preventing malicious collisions.

[0010] In combination with the first aspect and the above implementation methods, in some possible implementation methods, before determining whether the vehicle is in an acceleration state, the method further includes: outputting collision warning information when there is a collision risk to the vehicle, and determining whether the driver has a braking intention in response to the collision warning information; determining whether the vehicle is in an acceleration state includes: if it is determined that the driver does not have the braking intention, then determining whether the vehicle is in an acceleration state.

[0011] The above-mentioned technical solution immediately outputs collision warning information when there is a risk of collision, so as to remind the driver, give the driver reaction time, effectively reduce the occurrence of collision accidents or reduce the severity of collisions. In addition, it determines whether the driver has the intention to brake after receiving the collision warning information. If it is determined that the driver does not have the intention to brake, it determines whether the accelerator pedal is in the acceleration state. This method can improve the accuracy of malicious collision event judgment to a certain extent.

[0012] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, the vehicle includes a malicious collision counter. The step of determining that a malicious collision event has occurred when the preset malicious collision conditions are met, and obtaining the cumulative number of times the malicious collision event has occurred within a preset time period, includes: determining that a malicious collision event has occurred when the preset malicious collision conditions are met, and updating the count value of the malicious collision counter; using the moment when the count value is 1 as the target update moment, obtaining the cumulative count value of the malicious collision counter within a preset time period after the target update moment; and using the cumulative count value of the malicious collision counter as the cumulative number of times the malicious collision event has occurred within the preset time period.

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

[0014] In combination with the first aspect and the above implementation, in some possible implementations, after using the accumulated count value of the malicious collision counter as the accumulated number of malicious collision events that have occurred in the vehicle within a preset time period, the method further includes: if the accumulated number of malicious collision events is detected to be less than or equal to the preset number threshold, then the accumulated count value of the malicious collision counter is cleared to zero.

[0015] If the cumulative number of collisions does not exceed the preset threshold, then although a malicious collision event has occurred, it has not reached the severity required to trigger the vehicle locking state. In this case, it is advisable to reset the cumulative number of collisions to zero to avoid unnecessary interference and misjudgment, and to improve the flexibility in dealing with malicious collision events.

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

[0017] The above technical solution ensures the safe evacuation of occupants by unlocking the vehicle doors when the cumulative number of malicious collisions exceeds a preset threshold. It also alerts the emergency call service to facilitate a rapid response and rescue by rescue personnel, providing timely assistance to the occupants and thus improving driving safety.

[0018] In combination with the first aspect and the above implementation, in some possible implementations, after controlling the vehicle to be in a locked state, the method further includes: if it is determined that the vehicle is no longer at risk of collision, then the locked state of the vehicle is released.

[0019] The above technical solution, if it is determined that the current vehicle has eliminated the risk of collision, that is, there is no further threat of collision, then releases the vehicle from its locked state so that the vehicle can be used normally, thereby improving the user experience.

[0020] Secondly, a vehicle control device is provided, comprising: a detection module for detecting whether a vehicle has a collision risk; a judgment module for determining whether a preset malicious collision condition is met based on the vehicle's operating state when a collision risk exists; a determination module for determining that a malicious collision event has occurred if the preset malicious collision condition is met, and obtaining the cumulative number of malicious collision events that have occurred within a preset time period; and a control module for controlling the vehicle to be locked if the cumulative number of malicious collision events detected is greater than a preset threshold number; wherein, when the vehicle is in the locked state, starting the vehicle is prohibited.

[0021] In conjunction with the second aspect, in some implementations of the second aspect, the judgment module is specifically used for: determining whether the preset malicious collision conditions are met based on the vehicle's operating state, including: determining whether the vehicle is in an acceleration state; if it is determined that the vehicle is in the acceleration state, then identifying the collision object of the vehicle; if the collision object is detected to include a living object, then determining that the preset malicious collision conditions are met.

[0022] In conjunction with the second aspect, in some implementations of the second aspect, the judgment module is specifically used to: 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, then determine 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 determine that the preset malicious collision condition is met.

[0023] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the device further includes an output module, specifically used for: before determining whether the vehicle is in an acceleration state, further including: in the case that the vehicle has a collision risk, 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 acceleration state includes: if it is determined that the driver does not have the braking intention, then determining whether the vehicle is in an acceleration state.

[0024] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the device determining module is specifically used for: the vehicle including a malicious collision counter; the step of determining that the vehicle has experienced a malicious collision event when the preset malicious collision conditions are met, and obtaining the cumulative number of times the malicious collision event has occurred within a preset time period, includes: determining that the vehicle has experienced a malicious collision event when the preset malicious collision conditions are met, 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 cumulative count value of the malicious collision counter within a preset time period after the target update moment; and taking the cumulative count value of the malicious collision counter as the cumulative number of times the malicious collision event has occurred within the preset time period.

[0025] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the device further includes a zeroing module, specifically used for: after using the accumulated count value of the malicious collision counter as the accumulated number of malicious collision events that have occurred in the vehicle within a preset time period, the device further includes: if it is detected that the accumulated number of malicious collision events is less than or equal to the preset number threshold, then the accumulated count value of the malicious collision counter is zeroed.

[0026] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the device further includes a first unlocking module, specifically used for: 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 issuing an alarm through an emergency call service.

[0027] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the device further includes a second release module, specifically used for: after controlling the vehicle to be in a locked state, further including: if it is determined that the vehicle is currently free from collision risk, then releasing the vehicle from the locked state.

[0028] Thirdly, 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, causing the vehicle to perform the methods of the first aspect or any possible implementation thereof.

[0029] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0030] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0031] Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0032] Figure 2 This is a schematic flowchart of another vehicle control method provided in an embodiment of this application;

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

[0034] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0035] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0036] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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 that feature.

[0037] To facilitate understanding of the embodiments of this application, the technical terms involved in the embodiments of this application will be explained below.

[0038] Vehicle warning systems are an important component of vehicles. They monitor the vehicle's surroundings in real time and warn the driver of potential dangers. Typically, vehicle warning systems include sound warning systems, light warning systems, and steering wheel vibration warning systems.

[0039] Aural warning system: A warning system that alerts the driver to potential hazards by emitting sound signals. For example, an Acoustic Vehicle Alerting System (AVAS).

[0040] Lighting warning system: A warning system that issues a warning signal by changing the status of the vehicle's lights.

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

[0042] Intelligent driving systems are systems that autonomously control vehicles to perform certain functions primarily through onboard sensors (including cameras, millimeter-wave radar, lidar, ultrasonic radar, etc.) and controllers and actuators. Typically, intelligent driving systems offer advantages such as high automation, high safety, good comfort, and environmentally friendly street lighting.

[0043] Accelerometer: An accelerometer is a sensor used to measure the acceleration of a vehicle during driving. It primarily helps to achieve vehicle safety protection and performance improvement by measuring the vehicle's acceleration. In vehicle "safety crash tests," accelerometers can record a large number of data points at the moment of impact, with a maximum range reaching extremely high values ​​(such as 100,000G), and have strong impact resistance.

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

[0045] Intelligent forward-facing camera: This is a camera used to monitor the road ahead. It can identify the road, vehicles, pedestrians, traffic signs, etc., providing the driver with a comprehensive view. This type of camera is usually installed in the windshield or rearview mirror. Depending on the model, the vehicle is equipped with one or more forward-facing cameras.

[0046] Ultrasonic radar is a type of radar that uses high-frequency sound waves (usually beyond the range of human hearing) to measure distance and detect targets. It determines the distance, direction, and speed of a target by generating ultrasonic signals and receiving signals reflected back from the target. This type of radar is highly accurate, consumes little power, is not easily affected by environmental interference, and is inexpensive.

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

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

[0049] Face liveness detection instrument: It is a device that uses infrared thermal imaging technology to verify whether a face is a living person. By analyzing information such as the temperature distribution and texture features of the face, it can determine whether the face is a real living person.

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

[0051] In existing technologies, vehicles are equipped with radar and cameras to monitor the road ahead in real time. When a collision risk is detected, the vehicle's automatic emergency braking system automatically triggers braking to avoid or mitigate the risk of a collision. However, frequent braking not only affects the user's driving experience but may also compromise driving safety. Therefore, improving both driving safety and the user's driving experience has become an urgent problem to be solved.

[0052] To at least address the aforementioned problems, embodiments of this application provide a vehicle control method that can effectively prevent further deterioration of accidents such as continuous collisions.

[0053] Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

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

[0055] Step 101: Check if there is a collision risk to the vehicle.

[0056] Step 102: If there is a risk of collision with the vehicle, determine whether the preset malicious collision conditions are met based on the vehicle's operating status.

[0057] Step 103: If the preset malicious collision conditions are met, determine that a malicious collision event has occurred and obtain the cumulative number of malicious collision events that have occurred within a preset time period.

[0058] Step 104: If the cumulative number of malicious collision events detected exceeds a preset threshold, the vehicle is locked; while the vehicle is locked, starting the vehicle is prohibited.

[0059] In this embodiment, when a preset malicious collision condition is met, a malicious collision event is determined to have occurred. However, the vehicle is not immediately locked to avoid frequent locking due to accidental collisions, which could negatively impact the driving experience. After determining a malicious collision event, the cumulative number of malicious collisions within a preset time period is obtained. If the cumulative number exceeds a preset threshold, it indicates a lower probability of accidental collisions. In this case, the vehicle is locked to effectively prevent further escalation of the malicious collision event. Therefore, by introducing a preset threshold, locking the vehicle only when the cumulative number of malicious collision events exceeds this threshold helps distinguish between accidental and non-accidental collisions. This avoids frequent locking due to accidental collisions and ensures timely locking after multiple malicious collisions, effectively preventing further escalation 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.

[0060] The following is about Figure 1 The implementation of each step in the illustrated embodiment will be explained in detail.

[0061] Regarding step 101, it is understood that the above-mentioned detection of whether a vehicle has a collision risk can be determined using the vehicle's intelligent forward-facing camera or ultrasonic radar.

[0062] The aforementioned intelligent forward-facing camera is a type of vehicle-mounted camera primarily used to monitor the road ahead. Through image sensors and image processing technology, it identifies the road, vehicles, pedestrians, and traffic signs ahead, providing the driver with real-time driving assistance information. When the vehicle is moving forward, the intelligent forward-facing camera identifies the distance between the vehicle and any vehicles or obstacles ahead. If this distance is less than a safe distance threshold, a collision risk is identified.

[0063] The aforementioned ultrasonic radar emits ultrasonic waves through an ultrasonic transmitter and receives ultrasonic signals reflected back from obstacles. It determines the distance between the target and the radar by calculating the round-trip time difference of the ultrasonic signals. If this distance is less than a safe distance threshold, a collision risk is identified. These ultrasonic radars are typically installed at the front or side of the vehicle (such as on the bumper) to ensure the detection of obstacles ahead.

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

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

[0066] It is understandable that the above-mentioned determination of whether a vehicle is accelerating can be made by the vehicle acceleration and the accelerator pedal status. The vehicle acceleration can be obtained by an acceleration sensor. If the accelerator pedal opening is detected to be greater than zero and the vehicle acceleration is greater than zero, then it is determined that the vehicle is accelerating.

[0067] When a vehicle is accelerating, the method for determining whether a preset malicious collision condition is met can be determined based on the collision object. The collision object can include living objects, vehicles, roadblocks, etc.

[0068] When detecting collision objects, infrared thermal imagers can be used to determine whether the collision object is a living object. Specifically, facial liveness detection instruments can be used to determine whether the collision object is a pedestrian, and small animal liveness imaging instruments can be used to determine whether the collision object is an animal.

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

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

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

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

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

[0074] Monitoring equipment is installed on major traffic arteries or in key areas with high population density to capture the driving status of vehicles in real time. If a collision is detected and the vehicle engages in malicious behavior such as deliberately cutting off other vehicles or sudden braking, the vehicle is deemed to meet the conditions for a malicious collision.

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

[0076] By using millimeter-wave radar to transmit and receive millimeter waves, the distance between the vehicle and surrounding obstacles, as well as the location of the surrounding obstacles, are measured in real time. If the distance between the vehicle and surrounding obstacles decreases rapidly and is less than a preset distance threshold, and abnormal changes in vehicle speed are detected, the vehicle is determined to meet the conditions for a malicious collision.

[0077] Alternatively, the impact of the collision object can be disregarded, and the judgment can be made directly by whether the vehicle is accelerating and whether the vehicle's acceleration is greater than a preset acceleration threshold.

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

[0079] In some embodiments, before determining whether the vehicle is accelerating, the method further includes: outputting collision warning information when there is a risk of collision, and determining whether the driver intends to brake in response to the collision warning information; determining whether the vehicle is accelerating includes: if it is determined that the driver does not intend to brake, then determining whether the vehicle is accelerating.

[0080] It is understood that the aforementioned collision warning information is used to remind the driver that a collision is imminent. The methods of outputting the collision warning information include, but are not limited to, voice reminders, vibration reminders, and pop-up reminders. The reminder information can be output using a display on the vehicle. The display includes, but is not limited to, HUT (Head Unit Terminal), sub-instrument, and HUD (Head-Up Display). It can also be other displays capable of outputting reminder information. In this embodiment of the application, the choice of display is not limited.

[0081] The above-mentioned determination of whether the driver intends to brake can be made by the state of the brake pedal. If it is detected that the driver has pressed the brake pedal, that is, the brake pedal opening is greater than zero, then it is determined that the driver intends to brake.

[0082] To determine whether a driver intends to brake, the accelerator pedal position can also be used. If the driver releases the accelerator pedal, i.e., the accelerator pedal opening is zero, it can be determined that the driver intends to brake.

[0083] Regarding step 103, it is understood that if the preset malicious collision conditions are met, a malicious collision event is determined to have occurred. A single event can be stored for a preset duration to facilitate the subsequent acquisition of cumulative counts. The preset duration can be pre-defined; optionally, the preset duration can be pre-defined as 1 hour.

[0084] The above-mentioned acquisition of the cumulative number of malicious collision events that occurred within a preset time period can be understood as: viewing the cumulative number of malicious collision events that occurred within 1 hour before the current malicious collision event; or it can be understood as: viewing the cumulative number of malicious collision events that occurred within 1 hour after the current malicious collision event.

[0085] For ease of description, it will be understood as: viewing the cumulative number of malicious collision events that occurred within 1 hour after the current malicious collision event.

[0086] In some embodiments, the vehicle includes a malicious collision counter. When a preset malicious collision condition is met, the system determines that a malicious collision event has occurred and acquires the cumulative number of malicious collision events that have occurred within a preset time period. This includes: determining that a malicious collision event has occurred when the preset malicious collision condition is met, and updating the count value of the malicious collision counter; using the moment when the count value is 1 as the target update moment, acquiring the cumulative count value of the malicious collision counter within a preset time period after the target update moment; and using the cumulative count value of the malicious collision counter as the cumulative number of malicious collision events that have occurred within the preset time period.

[0087] It is understandable that the target update time mentioned above can be interpreted as the start time of the preset duration, that is, the start time of 1 hour.

[0088] If a malicious collision is confirmed, the malicious collision counter is updated by incrementing it by 1. If the updated counter value is 1, this indicates that it is the first malicious collision. The moment the malicious collision counter reaches 1 is then taken as the start of one hour. The accumulated counter value for the hour following this start time is then calculated and used as the cumulative number of malicious collisions involving the vehicle within that hour.

[0089] Regarding step 104, it is understood that the aforementioned preset number threshold can be pre-defined to measure whether the vehicle driver intentionally caused the collision. Optionally, the aforementioned preset number threshold can be pre-defined as 2. If the cumulative number is greater than 2, the vehicle driver is determined to have intentionally caused the collision.

[0090] When selecting the preset number of times threshold, it is necessary to balance driving experience and driving safety. If the preset number of times threshold is too low, it may lead to frequent vehicle locking, affecting the driving experience. However, if the preset number of times threshold is too high, it may not be possible to lock the vehicle in time, affecting driving safety and posing some safety risks to the driver, the vehicle and the surrounding environment.

[0091] Considering the possibility of collisions caused by driver error, setting the preset threshold to 1, while enabling a rapid response to a malicious collision, could lead to frequent vehicle locking, impacting the driving experience. Conversely, setting the threshold to 3 or higher avoids frequent vehicle locking but results in a slower response time, potentially affecting driving safety. Taking all factors into account, a middle value can be chosen as the preset threshold. For example, setting it to 2 better balances driving experience and safety, effectively protecting the driver, vehicle, and surrounding environment while avoiding frequent vehicle locking.

[0092] The aforementioned preset threshold number of attempts can also be determined based on the pedestrian and vehicle traffic flow on the road where the vehicle is located. If the pedestrian and vehicle traffic flow is high, the preset threshold number can be lowered to avoid greater losses after a malicious collision; if the pedestrian and vehicle traffic flow is low, the preset threshold number can be raised to improve the efficiency of triggering vehicle locking. For example, if the pedestrian and vehicle traffic flow is high, the threshold number can be lowered to 1; if the pedestrian and vehicle traffic flow is low, the threshold number can be raised to 3.

[0093] The aforementioned locking state refers to locking the vehicle and prohibiting the power source from starting, in order to prevent the vehicle from restarting. If the vehicle is a pure electric vehicle, the motor is prohibited from starting; if the vehicle is a hybrid vehicle, both the engine and the motor are prohibited from starting.

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

[0095] Understandably, whether a vehicle is locked 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 vehicle door is detected to be locked, it must be unlocked to allow the driver to escape the vehicle in time after a deliberate and malicious collision, ensuring their own safety. The vehicle's intelligent driving system will also alert the police via ECALL (Emergency Call) so that they can provide timely assistance.

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

[0098] Understandably, if the back-end service personnel of the intelligent driving system and the police jointly confirm that the collision risk has been eliminated, they will send a risk elimination signal to the vehicle's controller, which will then release the vehicle from its locked state.

[0099] In some embodiments, due to the infrared thermal imager used to determine the collision object, there is a certain probability that a non-living object may be detected as a living object, leading to the vehicle being mistakenly locked. Therefore, it is advisable to set up an unlocking interface on the display screen inside the vehicle, so that the driver can promptly unlock the vehicle in case of accidental touch, allowing the vehicle to drive normally. This interface should include an unlock button or unlock icon, as well as possible unlocking confirmation prompts (such as password, fingerprint, facial recognition, etc.). To ensure driving safety, the vehicle should be in a safe state before unlocking, such as by engaging the handbrake, to prevent the vehicle from lurching forward or backward after unlocking. When the driver successfully unlocks the vehicle, the display screen should also provide clear feedback information, such as displaying a prompt message such as "Vehicle unlocked." Additional auxiliary feedback information such as sound and lights can also be considered to help the driver obtain the vehicle's status in a timely manner.

[0100] For vehicles, whether they receive a risk deactivation signal from back-end service personnel or police officers, or a deactivation signal from the driver, the vehicle controller must respond to the signal promptly to unlock the vehicle and allow the driver to operate it.

[0101] In some embodiments, after using the accumulated count value of the malicious collision counter as the cumulative number of malicious collision events that have occurred in the vehicle within a preset time period, the method further includes: if the cumulative number of malicious collision events is detected to be less than or equal to a preset number threshold, then the accumulated count value of the malicious collision counter is cleared to zero.

[0102] Understandably, if within one hour of the first malicious collision, the accumulated number of collisions is less than or equal to a preset threshold, it indicates that the vehicle did not intentionally cause a malicious collision. The previous malicious collisions were either misidentified or caused by driver error. In this case, the accumulated count of the malicious collision counter should be reset to zero to prevent the vehicle from being locked due to the accumulation of counts. Resetting the accumulated count of the malicious collision counter can be understood as resetting the accumulated number of malicious collisions.

[0103] For example, if the cumulative count is less than or equal to 2 within 1 hour after the first malicious collision event, the cumulative count will be reset to zero.

[0104] The following describes the embodiments of this application in more detail, taking a preset duration of 1 hour as an example:

[0105] Figure 2 This is a schematic flowchart of another vehicle control method provided in the embodiments of this application.

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

[0107] Step 201: Determine if there is a collision risk. If so, proceed to step 202; otherwise, end the process.

[0108] Step 202: Output collision warning information.

[0109] Understandably, in-vehicle warning systems can be used for audible warnings, light warnings, and vibration warnings, among others. For example, an audible warning system can emit sound signals; a light warning system can change the vehicle's lighting status; and a steering wheel vibration warning system can vibrate the steering wheel as a reminder.

[0110] Step 203: Determine whether the driver intends to brake upon receiving the collision warning information. If yes, the process ends; otherwise, proceed to step 205.

[0111] Step 204: Determine whether the vehicle's acceleration is greater than a preset acceleration threshold. If yes, proceed to step 207; otherwise, proceed to step 206.

[0112] Step 205: Determine if the vehicle is accelerating. If yes, proceed to step 207; otherwise, proceed to step 206.

[0113] Step 206: Determine that the vehicle did not engage in a malicious collision.

[0114] Step 207: Determine that a malicious collision has occurred and update the count value of the malicious collision counter.

[0115] Understandably, the malicious collision counter increments by 1 each time a malicious collision is confirmed.

[0116] Step 208: Take the moment when the count value is 1 as the target update moment, and obtain the accumulated count value of the malicious collision counter within 1 hour after the target update moment.

[0117] Step 209: The accumulated count value of the malicious collision counter is used as the cumulative number of malicious collision events that have occurred in the vehicle within 1 hour.

[0118] Step 210: Determine whether the cumulative number of malicious collision events exceeds a preset threshold. If yes, proceed to step 211; otherwise, proceed to step 215.

[0119] Step 211: Lock the vehicle.

[0120] Understandably, the intelligent driving system sends a vehicle lock signal to the vehicle controller to lock the vehicle.

[0121] Step 212: If it is determined that the vehicle doors are locked, then unlock the doors.

[0122] Step 213: Issue an alarm via ECALL.

[0123] Step 214: If it is determined that the current vehicle is free from collision risk, then the vehicle's locking status is released.

[0124] Step 215: Reset the cumulative number of malicious collisions to zero.

[0125] In summary, the vehicle control method provided in this application has the following beneficial effects:

[0126] First, it uses intelligent forward-looking cameras and ultrasonic radar to detect collision risks around the vehicle in real time, and outputs collision warning information in a timely manner when collision risks exist, providing the driver with reaction time, effectively reducing the occurrence of collision accidents or mitigating the severity of collisions. In addition, if the cumulative number of collisions exceeds a preset threshold, it immediately locks the vehicle and prevents the vehicle from starting, thereby effectively preventing the accident from escalating further and improving driving safety.

[0127] Second, if multiple malicious collisions occur consecutively within a preset time period, the vehicle driver is deemed to have intentionally caused the collisions. In this case, the vehicle must be locked and an ECALL alarm must be triggered to promptly notify the back-end service personnel of the intelligent driving system and the police for handling. The lock can only be released after the risk has been confirmed to be eliminated, allowing the vehicle to resume normal use. This effectively addresses malicious collisions while improving the user experience.

[0128] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

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

[0130] Detection module 301 is used to detect whether there is a collision risk in the vehicle;

[0131] The judgment module 302 is used to determine whether the preset malicious collision conditions are met based on the vehicle's operating status when there is a risk of collision.

[0132] The determination module 303 is used to determine that a vehicle has committed a malicious collision event when the preset malicious collision conditions are met, and to obtain the cumulative number of malicious collision events committed by the vehicle within a preset time period.

[0133] The control module 304 is used to lock the vehicle if the cumulative number of malicious collision events detected exceeds a preset threshold; wherein, when the vehicle is locked, starting the vehicle is prohibited.

[0134] In one possible implementation, the judgment module is specifically used to: determine whether the preset malicious collision conditions are met based on the vehicle's operating state, including: determining whether the vehicle is in an acceleration state; if it is determined that the vehicle is in an acceleration state, then identifying the collision object of the vehicle; if the collision object is detected to include a living object, then determining that the preset malicious collision conditions are met.

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

[0136] In one possible implementation, the device further includes an output module, specifically used for: before determining whether the vehicle is in an acceleration state, further including: in the case of a collision risk, outputting collision warning information and determining whether the driver has a braking intention in response to the collision warning information; determining whether the vehicle is in an acceleration state includes: if it is determined that the driver does not have a braking intention, then determining whether the vehicle is in an acceleration state.

[0137] In one possible implementation, the device determining module is specifically used for: the vehicle including a malicious collision counter; determining that a malicious collision event has occurred when a preset malicious collision condition is met; and obtaining the cumulative number of malicious collision events that have occurred within a preset time period, including: determining that a malicious collision event has occurred when the preset malicious collision condition is met; 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 cumulative count value of the malicious collision counter within a preset time period after the target update moment; and using the cumulative count value of the malicious collision counter as the cumulative number of malicious collision events that have occurred within the preset time period.

[0138] In one possible implementation, the device further includes a zeroing module, specifically used to: after using the accumulated count value of the malicious collision counter as the accumulated number of malicious collision events that have occurred within a preset time period, further include: if the accumulated number of malicious collision events is detected to be less than or equal to a preset number threshold, then the accumulated count value of the malicious collision counter is zeroed.

[0139] In one possible implementation, the device further includes a first unlocking module, specifically used for: if the cumulative number of malicious collision events detected is greater than a preset threshold, the method further includes: if it is determined that the vehicle door is locked, unlocking the door and triggering an alarm via emergency call service.

[0140] In one possible implementation, the device further includes a second release module, 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 vehicle from the locked state.

[0141] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0142] For example, such as Figure 4As shown, the vehicle 400 includes a memory 401 and a processor 402. The memory 401 stores 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] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle control method provided in embodiments of this application.

[0144] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0145] When each functional module is divided according to its corresponding function, the device may also include a detection module, a judgment module, a determination module, and a control module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

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

[0147] When using 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 can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code.

[0148] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0149] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. 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 storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement a vehicle control method provided in the above embodiment.

[0151] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method provided in the above embodiment.

[0152] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0153] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0155] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method, characterized in that, The method includes: To check for potential collision risks in the vehicle; In the event that the vehicle is at risk of collision, the system determines whether the preset conditions for a malicious collision are met based on the vehicle's operating status. If the preset malicious collision conditions are met, it is determined that the vehicle has committed a malicious collision event, and the cumulative number of malicious collision events committed by the vehicle within a preset time period is obtained. If the cumulative number of malicious collision events detected exceeds a preset threshold, the vehicle is locked; wherein, while the vehicle is locked, starting the vehicle is prohibited.

2. The method according to claim 1, characterized in that, The step of determining whether the preset malicious collision conditions are met based on the vehicle's operating status includes: Determine whether the vehicle is accelerating; If it is determined that the vehicle is in the acceleration state, then the collision object of the vehicle is identified; If the detected collision object includes a living object, it is determined that the preset malicious collision condition is met.

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

4. The method according to claim 2, characterized in that, Before determining whether the vehicle is accelerating, the method further includes: If there is a risk of collision with the vehicle, output a collision warning message and determine whether the driver intends to brake in response to the collision warning message. The determination of whether the vehicle is accelerating includes: If it is determined that the driver does not have the intention to brake, then it is determined whether the vehicle is accelerating.

5. The method according to claim 1, characterized in that, The vehicle includes a malicious collision counter. The step of determining that a malicious collision event has occurred when the preset malicious collision conditions are met, and obtaining the cumulative number of malicious collision events that have occurred within a preset time period, includes: If the preset malicious collision conditions are 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 taken as the target update moment, and the accumulated count value of the malicious collision counter within a preset time after the target update moment is obtained. The accumulated count value of the malicious collision counter is used as the cumulative number of malicious collision events that occur to the vehicle within a preset time period.

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

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

8. The method according to claim 1, characterized in that, After controlling the vehicle to be locked, the method further includes: If it is determined that the vehicle is no longer at risk of collision, then the vehicle's locking status is released.

9. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in 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 that, when executed, implements the method as described in any one of claims 1 to 8.

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