A control method and device of a vehicle and the vehicle

Abstract

The application provides a control method of a vehicle, relates to the field of vehicle information security, and comprises the following steps: acquiring environment information of the vehicle in a target parking scene, and determining a target object in the environment information; then, intention detection is performed on the target object, if it is detected that the target object has a car-moving intention, a target projection position is determined according to the environment information; an encoding pattern associated with a control object corresponding to the vehicle is determined, and a projection module of the vehicle is controlled to project the encoding pattern by referring to the target projection position; and then, in response to a target operation of the target object on the encoding pattern, a car-moving request is sent to the control object. Since the encoding pattern triggered by intention recognition can inform the vehicle owner of the car-moving request, and the encoding pattern does not disclose the personal information of the vehicle owner, the car-moving demand can be quickly responded to, the personal contact information of the vehicle owner does not need to be collected and disclosed, and the safety of user information in the car-moving process is improved.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of vehicles, in particular, to vehicle information security technology in the technical field of vehicles, and more particularly to a control method and device of a vehicle and the vehicle. BACKGROUND

[0002] With the development of automobile technology, more and more cars appear in daily life. In the use process of the vehicle, the vehicle needs to be parked in a specified parking space to ensure the smoothness of the road. However, in some congested scenes, there may be a lack of parking spaces, and when the vehicle needs to be parked, it cannot be parked in the parking space, at which time an abnormal parking situation will occur, which will affect the passage of other vehicles. Therefore, how to inform the vehicle owner to move the vehicle when the vehicle is congested during parking has become a difficult problem. SUMMARY

[0003] The embodiments of the present specification provide a control method and device of a vehicle, a computing device and a computer program product to improve the security of user information during vehicle moving.

[0004] To achieve the above technical purpose, the embodiments of the present specification provide the following technical solutions:

[0005] In a first aspect, one embodiment of the present specification provides a control method of a vehicle, comprising:

[0006] obtaining environment information of the vehicle in a target parking scene, and determining a target object in the environment information;

[0007] performing intention detection on the target object, and if it is detected that the target object has a moving intention, determining a target projection position according to the environment information;

[0008] determining a coded pattern associated with a control object corresponding to the vehicle, and controlling a projection module of the vehicle to project the coded pattern with reference to the target projection position;

[0009] in response to a target operation of the target object on the coded pattern, sending a moving request to the control object.

[0010] Optionally, in a possible implementation, the method further comprises:

[0011] in response to a parking operation on the vehicle, triggering a camera of the vehicle to perform parking space detection to obtain parking space detection information;

[0012] if the parking space detection information indicates that the vehicle is in an abnormal parking space, determining that the vehicle is in the target parking scene;

[0013] Correspondingly, the environment information of the vehicle in the target parking scene includes:

[0014] The camera is controlled to detect the environment of the target parking scene to obtain the environment information of the vehicle in the target parking scene.

[0015] It can be seen that in the present embodiment, by detecting the parking space when the vehicle is parked, it is determined that the vehicle is in a scene that may need to be moved, the detection of the moving demand in a specific scene can be realized, the accuracy of scene detection is improved, and the environment is detected in the moving scene, which provides scene support for the moving intention detection process of the target object, and improves the accuracy of subsequent moving intention detection.

[0016] Optionally, in a possible implementation, the method further includes:

[0017] Obtaining position information of the vehicle and time information corresponding to the parking operation;

[0018] Determine the congestion label corresponding to the position information, and match the congestion period corresponding to the congestion label with the time information;

[0019] If the congestion period matches the time information, generate a congestion warning instruction;

[0020] Correspondingly, the camera of the vehicle is triggered to perform parking space detection in response to the parking operation of the vehicle to obtain parking space detection information, including:

[0021] In response to the parking operation of the vehicle, the camera of the vehicle is triggered to perform parking space detection based on the congestion warning instruction to obtain the parking space detection information.

[0022] It can be seen that in the present embodiment, since the congestion situation in different parking scenes is different in different time periods, i.e. the time period of the moving demand is different, the matching of the time information and the position congestion situation is used to determine whether the current scene is in the congestion period, i.e. whether there is a high moving demand, and the congestion warning instruction is generated at this time, so that the vehicle can perform parking space detection immediately after the parking operation, avoiding the moving intention detection in the idle parking scene, and improving the accuracy of subsequent moving intention detection.

[0023] Optionally, in a possible implementation, the intention detection for the target object includes:

[0024] Obtaining the object position corresponding to the target object;

[0025] If the object position is in the preset position corresponding to the vehicle, the staying duration of the target object is counted.

[0026] If the staying duration reaches a preset duration, it is determined that the target object has a car-moving intention.

[0027] It can be seen that, in the present embodiment, since the target object generally checks the vehicle during the car-moving process to determine how to move the car or whether the contact information is pasted, etc., the detection of the car-moving intention can be a detection process of the checking operation, so that the car-moving intention can be preliminarily determined by detecting the target object in the preset position corresponding to the vehicle. However, considering that the target object may only be curious or pass by the vehicle for a short time due to other reasons, the staying duration in the preset position is detected in combination, so as to avoid misidentification in this scenario and improve the accuracy of the car-moving intention detection.

[0028] Optionally, in a possible implementation, the target projection position is determined according to the environment information, including:

[0029] The plane information around the vehicle is determined according to the environment information.

[0030] The flatness is detected based on the plane information to determine a projectable region.

[0031] The position of the projectable region relative to the vehicle is determined to obtain the target projection position.

[0032] It can be seen that, in the present embodiment, since the coded pattern needs to be easily checked or executed by the target object, a flat plane needs to be selected around the vehicle for display during the projection process. Therefore, the relative position of the vehicle is determined by the projectable region determined by the flatness detection, which can improve the clarity of the coded pattern projection and facilitate the target object to execute the corresponding notification operation.

[0033] Optionally, in a possible implementation, the position of the projectable region relative to the vehicle is determined to obtain the target projection position, including:

[0034] The projectable region is screened according to the object position corresponding to the target object to obtain a screened region.

[0035] The region occupancy is detected based on the screened region to determine a target region.

[0036] The position of the target region relative to the vehicle is determined to obtain the target projection position.

[0037] It can be seen that, in the present embodiment, in order to facilitate the target object to observe the coded pattern, targeted projection can be performed according to the position of the target object, and further, since the target object can appear around the vehicle when viewing the coded pattern, the target object can be projected at the position where the target object stands at this time. In order to avoid the projection coinciding with the position where the target object stands, the region occupation detection is performed, thereby improving the integrity of the projected coded pattern.

[0038] Optionally, in a possible implementation, the method further includes:

[0039] determining an environmental factor in the environmental information that affects the projection;

[0040] Correspondingly, the control of the projection module of the vehicle to project the coded pattern with reference to the target projection position includes:

[0041] controlling the projection module of the vehicle to perform projection parameter adjustment based on the environmental factor, and projecting the coded pattern with reference to the target projection position.

[0042] It can be seen that, in the present embodiment, since the projection process can be disturbed by environmental factors such as light and weather conditions, by determining the environmental factor in the environmental information that affects the projection, the influencing factor in the environmental information can be extracted, and adaptive projection parameter adjustment can be performed for the environmental factor as the influencing factor, so that the projection process of the coded pattern can be adapted to different environmental scenarios, and the clarity of the coded pattern projection is improved.

[0043] Optionally, in a possible implementation, the method further includes:

[0044] obtaining feedback information sent by a control object;

[0045] determining a visual signal instruction corresponding to the feedback information;

[0046] controlling the vehicle to perform a corresponding feedback operation based on the visual signal instruction.

[0047] It can be seen that, in the present embodiment, since the target object needs to wait for the vehicle owner to handle after sending the request to move the vehicle, the feedback of the vehicle owner is needed to inform the target object of the intention to move the vehicle, so that the target object can wait calmly. The feedback process of the target object can be presented through the visual signal instruction, so that the target object can intuitively know the intention of the target object to move the vehicle, and invalid waiting is avoided, thereby improving the user experience of the process of moving the vehicle.

[0048] In a second aspect, an embodiment of the present specification provides a control device of a vehicle, including:

[0049] An acquisition unit is configured to acquire environment information of a vehicle in a target parking scenario, and determine a target object in the environment information;

[0050] A detection unit is configured to perform intention detection on the target object, and determine a target projection position according to the environment information if it is detected that the target object has a moving intention.

[0051] A control unit is configured to determine an encoded pattern associated with a control object corresponding to the vehicle, and control a projection module of the vehicle to project the encoded pattern with reference to the target projection position.

[0052] The control unit is further configured to send a moving request to the control object in response to a target operation of the target object on the encoded pattern.

[0053] Optionally, in a possible implementation, the acquisition unit is further configured to trigger a camera of the vehicle to perform parking space detection to obtain parking space detection information in response to a parking operation of the vehicle, and determine that the vehicle is in the target parking scenario if the parking space detection information indicates that the vehicle is in an abnormal parking space. Correspondingly, the acquisition unit is configured to control the camera to perform environment detection on the target parking scenario to acquire the environment information of the vehicle in the target parking scenario when acquiring the environment information of the vehicle in the target parking scenario.

[0054] Optionally, in a possible implementation, the acquisition unit is further configured to acquire position information of the vehicle and time information corresponding to the parking operation, determine a congestion label corresponding to the position information, and match a congestion period corresponding to the congestion label with the time information. If the congestion period matches the time information, a congestion warning instruction is generated. Correspondingly, the acquisition unit is configured to trigger the camera of the vehicle to perform parking space detection to obtain the parking space detection information based on the congestion warning instruction in response to the parking operation of the vehicle when triggering the camera of the vehicle to perform parking space detection to obtain the parking space detection information in response to the parking operation of the vehicle.

[0055] Optionally, in a possible implementation, the detection unit is configured to acquire an object position corresponding to the target object if it is detected that the target object has a moving intention when performing intention detection on the target object. If the object position is in a preset orientation corresponding to the vehicle, a stay duration of the target object is counted. If the stay duration reaches a preset duration, it is determined that the target object has a moving intention.

[0056] Optionally, in a possible implementation, the detection unit is configured to, when determining the target projection position according to the environment information, determine plane information of the surroundings of the vehicle according to the environment information; perform flatness detection based on the plane information to determine a projectable region; and determine a position of the projectable region relative to the vehicle to obtain the target projection position.

[0057] Optionally, in a possible implementation, the detection unit is configured to, when determining the target projection position according to the position of the projectable region relative to the vehicle, filter the projectable region according to the object position corresponding to the target object to obtain a filtered region; perform region occupancy detection based on the filtered region to determine a target region; and determine a position of the target region relative to the vehicle to obtain the target projection position.

[0058] Optionally, in a possible implementation, the control unit is further configured to determine an environmental factor in the environment information that has an impact on projection; and correspondingly, when controlling the projection module of the vehicle to project the coded pattern at the target projection position, control the projection module of the vehicle to perform projection parameter adjustment based on the environmental factor, and project the coded pattern at the target projection position.

[0059] Optionally, in a possible implementation, the control unit is further configured to obtain feedback information sent by a control object; determine a visual signal instruction corresponding to the feedback information; and control the vehicle to perform a corresponding feedback operation based on the visual signal instruction.

[0060] In a third aspect, an embodiment of the present specification further provides a computing device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the control method of the vehicle when executing the computer program.

[0061] In a fourth aspect, an embodiment of the present specification further provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program, and the computer program is executable on a processor to implement the control method of the vehicle.

[0062] In a fifth aspect, an embodiment of the present specification provides a computer program product or a computer program, and the computer program product includes a computer program, which can be stored in a computer-readable storage medium or in the cloud; a processor of the computer device reads the computer program, and the processor implements the steps of the control method of the vehicle when executing the computer program.

[0063] It can be seen from the technical solution that the control method of the vehicle provided by the embodiments of the present specification obtains the environmental information of the vehicle in the target parking scene and determines the target object in the environmental information; then, the intention of the target object is detected, if it is detected that the target object has the intention of moving the vehicle, the target projection position is determined according to the environmental information; the coded pattern associated with the control object corresponding to the vehicle is determined, and the projection module of the vehicle is controlled to project the coded pattern according to the target projection position; and in response to the target operation of the target object on the coded pattern, the request for moving the vehicle is sent to the control object. Since there is a demand for moving the vehicle in the vehicle parking scene, the target object in the environmental information of the vehicle is detected, and the intention of the target object is detected. The demand of the target object for the vehicle can be predicted through the process of intention detection, and the projection response can be targeted through the prediction of the demand of the target object for the vehicle. Therefore, when the target object has the intention of moving the vehicle, the corresponding coded pattern is projected based on the environment of the vehicle, that is, the coded pattern can meet the demand of the target object for the vehicle. Further, the coded pattern can inform the vehicle owner to execute the request for moving the vehicle, which meets the demand of the target object for the vehicle, and the coded pattern does not disclose the personal information of the vehicle owner, thereby realizing the quick response to the demand for moving the vehicle without collecting and disclosing the personal contact information of the vehicle owner, and improving the security of user information in the process of moving the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present specification, and those skilled in the art can obtain other drawings according to the provided drawings without creating any creative labor.

[0065] Figure 1 The application environment schematic diagram of the control method of the vehicle provided for an embodiment of the present specification;

[0066] Figure 2 The flowchart schematic diagram of the control method of the vehicle provided for an embodiment of the present specification;

[0067] Figure 3 The scene schematic diagram of the control method of the vehicle provided for an embodiment of the present specification;

[0068] Figure 4 The flowchart schematic diagram of another control method of the vehicle provided for an embodiment of the present specification;

[0069] Figure 5 The scene schematic diagram of another control method of the vehicle provided for an embodiment of the present specification;

[0070] Figure 6 Functional module schematic diagram of a control device of a vehicle provided for an embodiment of the present specification;

[0071] Figure 7 Structural schematic diagram of a computing device provided for an embodiment of the present specification. DETAILED DESCRIPTION

[0072] Unless otherwise defined, technical terms or scientific terms used in the embodiments of the present specification shall have the ordinary meaning understood by a person of ordinary skill in the art to which the present specification belongs. The terms "first", "second", and the like used in the embodiments of the present specification do not indicate any order, number, or importance, but are used to avoid confusion of the constituent elements.

[0073] Unless otherwise required by the context, throughout the specification, "a plurality" means "at least two", "includes" is interpreted as an open, inclusive meaning, i.e. "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific example" or "some examples" and the like are intended to mean that the specific feature, structure, material or characteristic related to the embodiment or example is included in at least one embodiment or example of the specification. The illustrative representation of the above terms does not necessarily mean the same embodiment or example.

[0074] The technical solutions in the embodiments of the present specification will be described clearly and completely in conjunction with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only part of the embodiments of the present specification, not all. Based on the embodiments in the present specification, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the scope of protection of the present specification.

[0075] With the development of technology in the field of automobiles, more and more automobiles appear in daily life; and in the process of using the vehicle, the vehicle needs to be parked in the specified parking space to ensure the normality of the road. However, in some congested scenes, there may be a situation of insufficient parking spaces, at which time an abnormal parking situation will occur, which will affect the passage of other vehicles; therefore, how to inform the vehicle owner to move the vehicle when the vehicle is congested during parking becomes a difficult problem.

[0076] Generally, a method can be used to attach a label with the owner's contact information to a specific location on the vehicle, allowing relevant personnel to notify the owner to move the car using that contact information; that is, when the owner needs to move the car, they can call the phone number left on the vehicle. However, this method carries the risk of privacy breaches related to the owner's phone number. While this car-moving request process can provide immediate service, it still largely relies on telephone communication, and request information posted on public platforms may be viewed by third parties, lacking effective privacy protection.

[0077] To address the aforementioned problems, this specification provides a vehicle control system, and the vehicle control method provided in this specification is applied to the vehicle control system. This control system can notify the vehicle owner of a vehicle relocation request by detecting the coded pattern of the intent projection, and the coded pattern does not disclose the vehicle owner's personal information. This achieves rapid response to vehicle relocation requests without collecting and disclosing the vehicle owner's personal contact information, thus improving the security of user information during the vehicle relocation process.

[0078] Specifically, the vehicle's control system may include a system composed of... Figure 1 The system comprises a client 110, a server 120, and a vehicle 130, forming an operating environment. The client 110 communicates with the server 120 via a network. The client 110 is wirelessly connected to the vehicle 130. The vehicle 130 communicates with the server 120 via a network connection. The client 110 can be an electronic device with network access capabilities. Specifically, for example, the client 110 can be a desktop computer, tablet, laptop, smartphone, digital assistant, smart wearable device, shopping guide terminal, television, smart speaker, microphone, etc. Smart wearable devices include, but are not limited to, smart bracelets, smartwatches, smart glasses, smart helmets, smart necklaces, etc. Alternatively, the client 110 can also be software that can run on the electronic device. The server 120 can be an electronic device with certain computing power. It can have a network communication module, processor, and memory, etc. Of course, the server 120 can also refer to software running on the electronic device. The server 120 can also be a distributed server, which can be a system with multiple processors, memory, network communication modules, etc., operating collaboratively. Alternatively, the server 120 can also be a cluster formed by several servers 120. Alternatively, with the development of science and technology, server 120 could also be a new technological means capable of realizing the corresponding functions of the implementation method described in the manual. For example, it could be a new form of "server" based on quantum computing.

[0079] Specifically, based on the above control system, when the vehicle is controlled to move in the vehicle, the environment information of the vehicle in the target parking scene is obtained, and the target object in the environment information is determined; then the intention of the target object is detected, if the target object has the intention of moving, the target projection position is determined according to the environment information; and the encoding pattern associated with the control object corresponding to the vehicle is determined, and the projection module of the vehicle is controlled to project the encoding pattern according to the target projection position; and in response to the target operation of the target object on the encoding pattern, the moving request is sent to the control object. Since there is a demand for moving in the vehicle parking scene, by detecting the target object in the vehicle environment information and using the intention detection to project the corresponding encoding pattern based on the vehicle environment when the target object has the intention of moving, the owner can be notified of the moving request through the encoding pattern, and the encoding pattern does not disclose the personal information of the owner, so that the moving demand is quickly responded, and the personal contact information of the owner is not collected and disclosed, and the security of the user information in the moving process is improved.

[0080] Based on the above idea, the control method of the vehicle provided by the embodiments of the present application is exemplarily described below with reference to the accompanying drawings.

[0081] For example, the control method of the vehicle in Figure 1 is exemplarily described in some embodiments of the present application, as shown in Figure 2 , Figure 2 is a flowchart of a control method of a vehicle provided by an embodiment of the present application; the control method of the vehicle comprises:

[0082] 201, obtaining the environment information of the vehicle in the target parking scene, and determining the target object in the environment information.

[0083] In this embodiment, the target parking scene is a parking scene with a demand for moving, which can be an abnormal parking scene, for example, parking in a non-standard parking space, that is, there may be a demand for moving because the other vehicles are blocked or the road is congested; or a normal parking scene, for example, parking in a parking space, that is, there may be a demand for moving because the parking space is not the parking space of the owner or the request of other positions. This embodiment is described by taking the abnormal parking scene as an example, but is not limited thereto.

[0084] It can be understood that the vehicle of the embodiment is a vehicle with environment perception capability, which can be equipped with a camera or a radar sensor, and the determination of the environment information can be performed by a visual scheme, that is, by a camera, or by a radar for environment scanning modeling, or by a combination of multiple sensors.

[0085] Specifically, the generation of the demand for moving the vehicle is caused by the target object, that is, when the target object needs to send a request for moving the vehicle, the target object needs to observe the surroundings of the vehicle, and therefore, the target object in the environment information needs to be detected to facilitate further intention recognition. Therefore, before the environment information of the vehicle in the target parking scene is obtained and the target object in the environment information is determined, the camera of the vehicle can be triggered to perform parking space detection to obtain parking space detection information in response to the parking operation of the vehicle; if the parking space detection information indicates that the vehicle is in an abnormal parking space, it is determined that the vehicle is in the target parking scene; then, for the process of environment detection, the camera is controlled to perform environment detection on the target parking scene to obtain the environment information and determine the target object in the environment information.

[0086] In the process of parking space detection, the vehicle can be implemented by a multi-sensor fusion technology, that is, the vehicle is equipped with an ultrasonic radar (for example, the detection distance is 0.2-4.5 meters) to scan the distance between surrounding obstacles, a surround-view camera (190° fisheye lens) to identify the color and fracture characteristics of the parking line, and a three-dimensional space model (for example, the accuracy is ±3 cm) constructed by combining the radar point cloud data to analyze the length of the parking space (for example, the specified length is greater than the length of the vehicle + 0.8 meters) and the effective entrance width (for example, the specified width is greater than 2.2 meters) in real time, and to exclude temporary occupying objects (such as cones) by a visual algorithm, and finally, a decision system determines a compliant parking space, which can be parallel / vertical / oblique, and the specific parking space form is determined according to the actual scene.

[0087] It can be seen that in the present embodiment, by performing parking space detection when the vehicle is parked, it is determined that the vehicle is in a scene that may need to be moved, the detection of the demand for moving the vehicle in a specific scene can be realized, the accuracy of scene detection is improved, and environment detection is performed in the moving scene, which provides scene support for the moving intention detection process of the target object and improves the accuracy of subsequent moving intention detection.

[0088] In a possible scenario, considering that the demand for moving vehicles in different scenarios may be different in different time periods, for example, commercial areas are generally congested only during the day, and vehicles are parked in abnormal parking spaces at midnight. Since there are fewer people and vehicles in commercial areas at midnight, there may be no demand for moving vehicles, and therefore, in order to reduce the data processing pressure of the vehicle, the congestion period of the congestion label corresponding to the location information can be matched with the time information corresponding to the parking operation of the vehicle. If the congestion period matches the time information, a congestion warning instruction is generated. The congestion warning instruction is used to provide a necessary basis for the execution of the parking space detection function in advance, so as to avoid parking space detection in a scenario where congestion obviously does not occur, and to reduce the data processing pressure of the vehicle environment detection. Then, in response to the parking operation of the vehicle, the camera of the vehicle is triggered to perform parking space detection based on the congestion warning instruction to obtain parking space detection information. The congestion label is a congestion period corresponding to the location, and the demand for moving vehicles is high in the congestion period, for example, at night in residential buildings, and in commercial areas during the day. The specific time period is determined according to the actual scenario, and is not limited here.

[0089] It can be seen that, in the present embodiment, since the congestion in different parking scenarios is different in different time periods, that is, the time period in which the demand for moving vehicles exists is different, the current scenario is determined to be in a congestion period or not by matching the time information with the location congestion, that is, whether there is a high demand for moving vehicles, and the parking space detection information is generated at this time. The parking scene is idle, and the accuracy of subsequent moving intention detection is improved.

[0090] It can be seen that, in the present embodiment, since the congestion in different parking scenarios is different in different time periods, that is, the time period in which the demand for moving vehicles exists is different, the current scenario is determined to be in a congestion period or not by matching the time information with the location congestion, that is, whether there is a high demand for moving vehicles, and the parking space detection information is generated at this time. The parking scene is idle, and the accuracy of subsequent moving intention detection is improved.

[0091] 202, detecting the intention of the target object, and if it is detected that the target object has a moving intention, determining the target projection position according to the environment information.

[0092] In the present embodiment, the process of detecting the intention of the target object is the process of observing the target object by the vehicle, as shown in Figure 3 Figure 3 ​A scene schematic diagram of a vehicle control method provided for an embodiment of the present specification; by statistical observation of observation data of a target object during observation of the vehicle, intention detection is performed, and then the vehicle determines a target projection position for projecting a coded pattern according to environmental information, which can be various directions relative to the vehicle, such as forward projection, lateral projection, etc. The specific projection direction can be configured according to the configuration of the projection module (LED headlight, etc.) of the vehicle. That is, the vehicle of the present embodiment is a vehicle equipped with special LED headlight and environmental camera, which supports visual signal-based car moving request and confirmation. The vehicle can recognize visual signals in a specific environment and understand the car moving instruction through AI intelligent algorithm.

[0093] Specifically, for the process of detecting the intention of the target object by statistical observation of observation data of the target object during observation of the vehicle, the observation data can be a process of simulating the observation of the target object on the fixed contact method. For example, since the common observation position of the car moving code is in front of the vehicle within a certain range, or in front of the windshield, the statistical observation of the staying time in these ranges is used to determine the car moving intention. Therefore, for the intention detection of the target object, if the car moving intention of the target object is detected, that is, the process of determining the car moving intention, the object position corresponding to the target object can be obtained first; if the object position is in the preset direction corresponding to the vehicle, the staying time of the target object is counted; if the staying time reaches the preset time, it is determined that the target object has a car moving intention. For example, if the object position corresponding to the target object is in front of the vehicle (preset direction), and the staying time facing the vehicle reaches 5 seconds (preset time), it is determined that the target object has a car moving intention.

[0094] As can be seen, in the present implementation, since the target object generally checks the vehicle during the car moving process to determine how to move the car or whether the contact method is pasted, the detection of the car moving intention can be a detection process for the above checking operation. Therefore, by detecting the target object in the preset direction corresponding to the vehicle, the car moving intention can be preliminarily determined. However, considering the scenario that the target object may only be curious or for other reasons to check the vehicle for a short time or pass by, the staying time in the preset direction is combined for detection, thereby avoiding misidentification in this scenario and improving the accuracy of car moving intention detection.

[0095] Further, the vehicle camera can also determine the car moving demand of the target object through multi-modal perception and behavior intention analysis. The core process includes three stages of environmental perception, behavior analysis, and intention determination.

[0096] For the environmental perception stage, multispectral image acquisition can be performed, that is, visible light (5 million pixel wide-angle lens) and infrared camera (940 nm wavelength) work together to ensure clear capture of targets in day and night environments. Through HDR technology (dynamic range > 120 dB), strong light interference is suppressed, and the contours of personnel in a range of 5-30 meters are identified (accuracy ± 5 cm). Example: in a night scene, the infrared camera can penetrate the reflection of the car window and accurately capture the hand waving action of the person next to the car. Then dynamic target tracking can be performed, which can detect human targets in real time based on a target detection model (such as YOLOv8) (detection rate > 98%), and cross-frame tracking can be achieved by combining a target tracking algorithm (such as DeepSORT), to construct a personnel motion trajectory heat map (update frequency 30 Hz). The fisheye camera is called synchronously to determine the relative position of the personnel and the vehicle (side < 1.5 meters is determined as a potential interaction distance).

[0097] For the behavior analysis stage, that is, key gesture recognition, an HRNet pose estimation model can be used to extract 17 skeletal key points, analyze specific motion patterns, and identify gesture features such as hand waving amplitude > 30° and duration > 2 seconds (accuracy 92%). Pointing action: the hand extension line coincides with the vehicle projection area (such as the license plate position) to trigger the car moving intention label. Interaction stay: personnel are stationary next to the car for > 10 seconds and their line of sight is directed at the window / license plate, which increases the intention probability. Then multi-modal data fusion is performed, that is, combining millimeter wave radar (detecting heartbeat / respiration micro-movement) and microphone array (capturing knocking vehicle soundprint), to exclude passing pedestrians. When the personnel approach, the system starts three-dimensional reconstruction (binocular disparity + ToF depth information) to construct a three-dimensional trajectory model of personnel behavior.

[0098] For the intention determination stage, a scenario-based decision tree can be configured, with input features including: personnel stay duration, motion intensity, interaction distance, historical behavior patterns (such as the car owner's common gestures), etc. The XGBoost classifier calculates the probability threshold of the car moving intention (> 85% triggers response). For example, if it is detected that the personnel are holding a mobile phone to scan the license plate (visual recognition + Bluetooth signal association), and have been staring at the vehicle for > 5 seconds, then the intention confidence is increased to 95%.

[0099] In addition, a real-time feedback mechanism can also be configured, that is, after triggering the intention, the vehicle-mounted communication module sends an encrypted request to the car owner's APP, and simultaneously starts the headlight projection dynamic two-dimensional code (including time Token). The camera continuously monitors the personnel's code scanning action, and if the interaction is not completed within 30 seconds, the intention weight is automatically degraded.

[0100] The above intention detection process can be integrated in the master control system of the vehicle, responsible for identifying the car request signal captured by the camera, and controlling the LED headlight of the vehicle to feedback the confirmation signal. At the same time, the AI algorithm can intelligently identify environmental factors such as light conditions and weather conditions to ensure accurate identification of the signal.

[0101] Through the above intention recognition process, the target object's intention to move the car is obtained, and after determining that the target object has the intention to move the car, the target projection position for projection is determined. Considering that the target of projection is to facilitate the target object to observe, the integrity of the projected code pattern needs to be ensured, so for the process of determining the target projection position according to the environmental information, the plane information around the vehicle can be determined according to the environmental information first; then the flatness detection is performed based on the plane information to determine the projectable area; and the position of the projectable area relative to the vehicle is determined to obtain the target projection position.

[0102] As can be seen, in the present implementation, since the code pattern needs to be convenient for the target object to view or perform related operations, a flat plane needs to be selected around the vehicle for display during the projection process. Therefore, the determination of the relative position of the vehicle based on the projectable area determined by the flatness detection can improve the clarity of the code pattern projection, and facilitate the target object to perform the corresponding notification operation.

[0103] In a possible scenario, the target object can be around the vehicle. In order to avoid the target object from blocking the projection content, occupation detection can be performed. Therefore, for the process of determining the target projection position relative to the vehicle, the projectable area can be first screened according to the object position corresponding to the target object to obtain a screening area; then the area occupation detection is performed based on the screening area to determine a target area; and the position of the target area relative to the vehicle is determined to obtain the target projection position.

[0104] As can be seen, in the present implementation, in order to facilitate the target object to observe the code pattern, targeted projection can be performed according to the position of the target object. Further, since the target object can be around the vehicle when viewing the code pattern, the code pattern can be projected to the position where the target object stands. In order to avoid the inconvenience of the target object in the code pattern interaction process due to the coincidence of the projection and the standing position of the target object, the area occupation detection is performed, thereby improving the convenience of the code pattern interaction process and the integrity of the projected code pattern.

[0105] 203、determine the code pattern associated with the control object corresponding to the vehicle, and control the projection module of the vehicle to project the code pattern according to the target projection position.

[0106] In this embodiment, the code pattern is a code pattern recording the contact information of the vehicle owner, and the target object needs to be scanned to notify the vehicle owner to move the vehicle. The code pattern can be referred to as a moving code, a notification code, etc., and the specific designation is not limited.

[0107] Specifically, the code pattern can be a two-dimensional code, but also a bar code or other code form. Among them, the two-dimensional code is a kind of optical identifiable data storage and transmission coding form based on two-dimensional matrix pattern coding. Its core feature is to encode information into machine-readable graphical symbols through specific geometric patterns (such as black and white module arrangement), which belongs to the subdivision field of automatic identification technology (AIDC), and together with one-dimensional bar code constitutes the complete system of "bar code technology". Compared with traditional bar code, two-dimensional code realizes higher information density through vertical and horizontal two-way data storage, and integrates error correction algorithm, encryption protocol and other function layers, expanding its application boundary in data interaction, identity verification and Internet of Things scenarios. Therefore, this embodiment takes two-dimensional code as an example for description.

[0108] Optionally, for the process of determining the code pattern associated with the control object corresponding to the vehicle, the code pattern can be a fixed configuration, that is, the moving request code is integrated into the vehicle headlight projection, which is in a hidden state at ordinary times. When the vehicle is parked, the vehicle owner can manually turn it on through the intelligent system of the vehicle or automatically turn it on through the vehicle camera module after automatically detecting the improper parking situation, and project the request moving code belonging to the vehicle to the outside.

[0109] In addition, the code pattern can also be dynamically generated, that is, the dynamic encryption generation process of the two-dimensional code realizes data security update by combining real-time parameters and encryption algorithm. Its dynamic generation process includes the following steps:

[0110] 1. Dynamic parameter injection, that is, the system generates a dynamic factor based on the timestamp, random number or user identity, splices it with the original data (such as the moving instruction "move license plate A12345"), and forms the encrypted string.

[0111] 2. Layered encryption processing, that is, the original data is encrypted by using AES-256 symmetric encryption, and then the AES key is asymmetrically encrypted by using ECC elliptic curve algorithm to generate a double-encrypted data packet. At the same time, the SHA-256 hash value of the dynamic factor is added as a verification code to form a three-tuple structure of "ciphertext + key ciphertext + hash value".

[0112] 3. Real-time code generation, convert the encrypted data packet into a binary stream, enhance the fault tolerance rate through Reed-Solomon error correction algorithm, and then call the QR Code generation engine to dynamically render the pixel matrix. Finally, output the color-changing two-dimensional code (such as blue / green alternating light and shadow) that automatically invalidates every 15 seconds, and the pattern fluctuation frequency is synchronized and calibrated with the server time.

[0113] It can be seen that by using dynamic factors to achieve "one code one encryption", combined with layered encryption and optical anti-counterfeiting design, the copying attack and man-in-the-middle hijacking can be effectively resisted, and the security of the control object (vehicle owner) information can be improved. In combination with the above process of using the camera outside the vehicle to perceive the environment, the AI intelligent car moving privacy protection method of the vehicle headlamp and the camera is used to realize the projection of the two-dimensional code of the car moving request without disclosing the phone or personal information, so as to ensure the privacy and safety of the vehicle owner.

[0114] In a possible scenario, due to environmental factors, the projection process will be affected, such as weather, light, etc., so the projection process can be adaptively adjusted according to the environmental factors. Therefore, for the process of projecting the coded pattern, the environmental factors (weather, light, etc.) in the environmental information that affect the projection can be determined in advance; then in the process of controlling the projection module of the vehicle to project the coded pattern at the target projection position, the projection parameter adjustment is controlled by the projection module of the vehicle based on the environmental factors, and the coded pattern is projected at the target projection position.

[0115] Specifically, for the process of controlling the projection parameter adjustment of the projection module of the vehicle based on the environmental factors, the deep cooperation of the intelligent environment perception system and the adaptive optical technology can include the following steps:

[0116] 1. Light adaptive adjustment

[0117] Dynamic lumen control: The external brightness is monitored in real time by the built-in ambient light sensor (accuracy ± 5Lux) of the windshield, and the output lumen of the laser headlamp module is dynamically adjusted. For example, under strong light at noon, a short pulse high-energy laser (peak brightness up to 8000 lumens) is excited, and at night it is switched to a long-wave infrared auxiliary mode (850nm wavelength) to avoid dazzling.

[0118] Intelligent contrast compensation: The vehicle-mounted GPU (such as NVIDIA Drive Thor) runs the AI image engine to perform regional HDR processing on the projection content. For example, in a backlight scene, the local gamma value of the license plate projection area is improved (1.8→2.4), while the surrounding high light overflow is compressed.

[0119] Anti-interference surface treatment: A nano-level reflective coating (reflectivity > 90%) is pre-sprayed on the vehicle projection area (such as the ground), and a headlamp polarizing filter (extinction ratio 1000:1) is used to effectively suppress environmental light interference.

[0120] 2. Weather adaptive adjustment

[0121] Rain and fog penetration mode: start the blue light enhancement band (450-470nm), use the Mie scattering characteristics of blue light in fog, and improve the visible distance by more than 30%. Synchronously activate the millimeter wave radar to monitor the raindrop density and dynamically adjust the projection focus.

[0122] Snow color gamut optimization: when the temperature sensor detects below-5°C and the ambient light reflectivity is >0.7, automatically switch to the snow projection mode, such as reducing the blue channel brightness by 40% and improving the red contrast by 25% to avoid confusion between the projected content and the snow reflection.

[0123] Sand and dust protection system: deploy an electrostatic dust removal net (PM2.5 filtration efficiency 99%) at the air inlet, and use magnetic fluid sealing technology for the projection lens to ensure stable operation in sandstorms.

[0124] Determine the environmental factors in the environment information that affect projection;

[0125] Correspondingly, the control of the projection module of the vehicle refers to the target projection position to project the coded pattern, comprising:

[0126] Based on the environmental factors, the projection parameter adjustment of the projection module of the vehicle is controlled, and the coded pattern is projected with reference to the target projection position.

[0127] As can be seen, in this implementation, since the projection process will be disturbed by environmental factors such as light and weather conditions, by determining the environmental factors in the environment information that affect projection, the influencing factors in the environment information can be extracted and the projection parameter adjustment can be adapted to the environmental factors as influencing factors, so that the projection process of the coded pattern can be adapted to different environmental scenarios, and the clarity of the coded pattern projection is improved.

[0128] 204, in response to the target operation of the target object on the coded pattern, sending a car moving request to the control object.

[0129] In this embodiment, the target operation of the target object on the coded pattern can be a code scanning operation or other operations that can trigger the coded pattern to notify the control object; the vehicle or the cloud server receives the car moving request after the code scanning operation, and sends a car moving reminder to the vehicle owner; the vehicle owner receives the car moving instruction request, and can send a visual signal instruction, such as flashing or displaying a specific mode (text projection prompt) of LED headlight, as a confirmation reply to the car moving request, without directly exposing the phone number of the vehicle owner.

[0130] Specifically, for the process of sending the visual signal instruction, that is, a car moving feedback, first, the feedback information sent by the control object is acquired; then the visual signal instruction corresponding to the feedback information is determined; and based on the visual signal instruction, the vehicle is controlled to perform a corresponding feedback operation (for example, projecting a confirmation of moving the car, waiting for a moment).

[0131] As can be seen, in the present embodiment, since the target object needs to wait for the car owner to handle after sending the car moving request, the feedback of the car owner is needed to inform the target object of the intention of moving the car, so that the target object can wait calmly. The feedback process of the target object can be presented through the visual signal instruction, so that the target object can intuitively know the intention of moving the car of the target object, avoid invalid waiting, and thus improve the user experience of the car moving process.

[0132] The above embodiment solves the problem of immediate response of car moving demand by using the technical combination of vehicle headlamps and cameras, and effectively protects the phone privacy of the car owner. When the vehicle is temporarily parked in a crowded area such as a business district or a residential area and is not in a normal parking space, the AI intelligent car moving privacy protection system is automatically started. The car owner receives the car moving instruction request after scanning the car moving code projected by the headlamps (front, rear and side mirror lamps), and sends a visual signal instruction through a specified application on the mobile device, and the LED headlamps flash or display a specific pattern (text projection prompt) as a confirmation reply to the car moving request.

[0133] In a possible scenario, the system automatically closes the car moving request code projected by the headlamps after the car moving request is completed, to prevent misuse. In addition, if the two-dimensional code is not scanned after being projected, the two-dimensional code display can be closed. This scenario may occur due to misrecognition of the intention, and at this time, the relevant information can be recorded and fed back to the background for summary, and the parameters in the intention detection process can be adjusted.

[0134] In summary, the embodiment obtains the environmental information of the vehicle in the target parking scene and determines the target object in the environmental information. Then, the intention of the target object is detected. If it is detected that the target object has the intention to move the vehicle, the target projection position is determined according to the environmental information. The encoding pattern associated with the control object corresponding to the vehicle is determined, and the projection module of the vehicle is controlled to project the encoding pattern according to the target projection position. Then, in response to the target operation of the target object on the encoding pattern, the request for moving the vehicle is sent to the control object. Since there is a demand to move the vehicle in the vehicle parking scene, the target object in the vehicle environment is detected, and the intention of the target object is detected. The demand of the target object for the vehicle can be predicted through the process of intention detection. The projection response can be targeted through the prediction of the demand of the target object for the vehicle. Therefore, when the target object has the intention to move the vehicle, the corresponding encoding pattern is projected based on the vehicle environment. The encoding pattern can meet the demand of the target object for the vehicle. The vehicle owner can be notified to perform the request for moving the vehicle through the encoding pattern. While meeting the demand of the target object for the vehicle, the encoding pattern does not disclose the personal information of the vehicle owner, so as to realize the quick response to the demand for moving the vehicle without collecting and disclosing the personal contact information of the vehicle owner, and improve the security of user information in the process of moving the vehicle.

[0135] The above embodiment introduces the process of moving the vehicle based on the intention detection. The above process will be described in combination with the module configuration process of the vehicle, as shown in Figure 4 Figure 4 Another flowchart of a control method of a vehicle provided by an embodiment of the present specification is shown in the figure. The vehicle is configured with a parking scene module, an object recognition module, a light control module, and a vehicle end remote control module.

[0136] Specifically, the parking scene module is used for vehicle parking scene judgment and triggers the camera to detect the environment, that is, to obtain the vehicle information, to confirm the scene of the vehicle parking according to the time and the parking position. If the vehicle parking scene is a target parking scene, the environment around the vehicle and the target object are detected, and the intention of the target object is identified. For related execution process, refer to the description of step 201, which will not be repeated here.

[0137] The object recognition module is used for target object intention detection. If the object information is an initiating object that needs to move the vehicle, the relative position of the projectable information around the vehicle is obtained. For related execution process, refer to the description of step 202, which will not be repeated here.

[0138] The light control module is used for two-dimensional code projection and light feedback after the feedback of the vehicle owner, that is, according to the position of the projectable area, the intelligent light projection information is controlled to execute the corresponding display strategy. For related execution process, refer to the description of steps 203 and 204, which will not be repeated here. ​

[0139] The vehicle end remote control module is used for automatically moving the vehicle according to the feedback in response to the moving notification, that is, according to sending a visual signal instruction by the vehicle owner on the mobile device, the intelligent light control intelligent light projection information executes the corresponding display strategy.

[0140] In addition, on the basis of the above-mentioned embodiments, the vehicle can automatically move according to the moving feedback of the vehicle owner, for example, in Figure 5 As shown in the scene, Figure 5 Another scene diagram of a vehicle control method provided for an embodiment of the present specification; after the target object scans the moving two-dimensional code projected by the vehicle, the vehicle notifies the mobile phone of the control object (the vehicle owner), and displays a notification interface in the mobile phone interface. For the scene of automatic moving, the content of the notification interface can include "receiving moving request, whether to automatically move", and after the vehicle owner selects yes, the vehicle can automatically move according to the automatic moving. Specifically, when receiving the moving reminder, the response is performed, the moving is confirmed, the remote control of the vehicle is performed, the remote parking, the tracking parking and the text projection prompt are performed. This process provides instant moving request and response, significantly improves the efficiency of parking space management, completely avoids the exposure of user phone numbers or personal identity information, is very suitable for occasions with high requirements for privacy, and avoids communication difficulties, without direct conversation, avoiding language and time communication difficulties. And in the aspect of intelligent safety, the AI algorithm is combined with environmental adaptability to ensure the communication accuracy and improve the overall safety of the system.

[0141] As can be seen, the present embodiment utilizes the vehicle headlamp and the corresponding camera to form a unique "lamp-camera" equipment, realizing automatic vehicle recognition. Whenever someone (even a remote observer) needs to move the vehicle, a specific pattern (moving request code) projected by the vehicle intelligent light group (front and rear and side mirror lights) is used to notify the vehicle owner after scanning the code, and the vehicle owner sends a visual signal instruction through the application on the mobile device, and the LED headlamp flashes or displays a specific mode (text projection prompt) as a confirmation reply to the moving request; and the vehicle owner can directly control the vehicle to automatically move, which can quickly respond to the moving demand and completely avoids collecting and disclosing the phone information of the vehicle owner.

[0142] It should be noted that the multiple embodiments in the present specification each focus on the part different from other embodiments, and each embodiment can be interpreted by mutual comparison. Any combination of the multiple embodiments in the present specification is covered in the disclosure range of the present specification based on general technical knowledge.

[0143] In one exemplary embodiment of the present specification, a vehicle control device 600 is also provided, as shown in Figure 6 , Figure 6The function module schematic diagram of the control device of the vehicle for an embodiment of the present specification, the interaction device 600 comprises:

[0144] The acquisition unit 601 is used for acquiring the environment information of the vehicle in the target parking scene, and determining the target object in the environment information;

[0145] The detection unit 602 is used for performing intention detection on the target object, and if it is detected that the target object has a car-moving intention, determining a target projection position according to the environment information;

[0146] The control unit 603 is used for determining a coded pattern associated with the control object corresponding to the vehicle, and controlling the projection module of the vehicle to project the coded pattern with reference to the target projection position;

[0147] The control unit 603 is also used for sending a car-moving request to the control object in response to a target operation of the target object on the coded pattern.

[0148] Optionally, in a possible implementation manner, the acquisition unit 601 is also used for triggering the camera of the vehicle to perform parking space detection to obtain parking space detection information in response to the parking operation of the vehicle, and determining that the vehicle is in the target parking scene if the parking space detection information indicates that the vehicle is in an abnormal parking space. Correspondingly, when acquiring the environment information of the vehicle in the target parking scene, the camera is controlled to perform environment detection on the target parking scene to acquire the environment information of the vehicle in the target parking scene.

[0149] Optionally, in a possible implementation manner, the acquisition unit 601 is also used for acquiring position information of the vehicle and time information corresponding to the parking operation, determining a congestion label corresponding to the position information, and matching a congestion period corresponding to the congestion label with the time information, and generating a congestion warning instruction if the congestion period matches the time information. Correspondingly, when triggering the camera of the vehicle to perform parking space detection to obtain parking space detection information in response to the parking operation of the vehicle, the camera of the vehicle is triggered to perform parking space detection to obtain the parking space detection information based on the congestion warning instruction in response to the parking operation of the vehicle.

[0150] Optionally, in a possible implementation manner, the detection unit 602 is used for, when performing intention detection on the target object, acquiring an object position corresponding to the target object if it is detected that the target object has a car-moving intention, and performing statistics on a stay duration of the target object if the object position is in a preset orientation corresponding to the vehicle, and determining that the target object has a car-moving intention if the stay duration reaches a preset duration.

[0151] Optionally, in a possible implementation, the detection unit 602 is configured to, when determining the target projection position according to the environment information, determine plane information of the surroundings of the vehicle according to the environment information; perform flatness detection based on the plane information to determine a projectable area; and determine a position of the projectable area relative to the vehicle to obtain the target projection position.

[0152] Optionally, in a possible implementation, the detection unit 602 is configured to, when determining the target projection position according to the position of the projectable area relative to the vehicle, perform screening on the projectable area according to an object position corresponding to the target object to obtain a screened area; perform region occupancy detection based on the screened area to determine a target region; and determine a position of the target region relative to the vehicle to obtain the target projection position.

[0153] Optionally, in a possible implementation, the control unit 603 is further configured to determine an environmental factor in the environment information that has an impact on projection; and correspondingly, when controlling the projection module of the vehicle to project the coded pattern at the target projection position, control the projection module of the vehicle to perform projection parameter adjustment based on the environmental factor, and project the coded pattern at the target projection position.

[0154] Optionally, in a possible implementation, the control unit is further configured to acquire feedback information sent by a control object; determine a visual signal instruction corresponding to the feedback information; and control the vehicle to perform a corresponding feedback operation based on the visual signal instruction.

[0155] Specifically, the acquisition unit, the detection unit, and the control unit in this embodiment can correspond to physical components, for example, the control unit can be a CPU, a GPU, an FPGA, or the like. The specific physical component can be any component and combination of components that have the above functions, and the specific manner can be determined according to an actual scene. This does not make any limitation here.

[0156] The control device described above obtains environment information of the vehicle in a target parking scenario, and determines a target object in the environment information. Then, intention detection is performed on the target object. If it is detected that the target object has a car-moving intention, a target projection position is determined according to the environment information. An encoding pattern associated with a control object corresponding to the vehicle is determined, and the projection module of the vehicle is controlled to project the encoding pattern on the target projection position. Then, in response to a target operation of the target object on the encoding pattern, a car-moving request is sent to the control object. Since there is a need to move the car in the vehicle parking scenario, the target object in the vehicle environment information is detected, and intention detection is performed on the target object. The intention detection process can predict the demand of the target object for the vehicle. The prediction of the demand of the target object for the vehicle can be targeted for projection. Therefore, when the target object has a car-moving intention, the corresponding encoding pattern is projected based on the vehicle environment. The encoding pattern can meet the demand of the target object for the vehicle. The car owner can be notified to perform the car-moving request through the encoding pattern. The demand of the target object for the vehicle is met, and the encoding pattern does not disclose the personal information of the car owner. Therefore, the car-moving demand is quickly responded, the personal contact information of the car owner is not collected and disclosed, and the security of user information in the car-moving process is improved.

[0157] The specific limitations of the control device of the vehicle can be referred to the limitations of the control method of the vehicle in the above, which will not be repeated here. Each unit module in the control device of the vehicle described above can be realized by software, hardware and combinations thereof in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0158] Another embodiment of the present application also provides a computing device, as shown in Figure 7 An example embodiment of the present specification also provides a computing device, including a memory and a processor, the memory stores a computer program, and the processor executes the computer program to execute the steps of the control method of the vehicle according to various embodiments of the present specification described in the above embodiments of the present specification.

[0159] The internal structure of the computing device can be as shown in Figure 7As shown, the computing device includes a processor, a memory, a network interface, and an input device connected by a system bus. The processor of the computing device is configured to provide computing and control capabilities. The memory of the computing device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the computing device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to perform the steps of the control method of the vehicle according to various embodiments of the present disclosure described in the above embodiments of the present disclosure.

[0160] The processor can include a main processor, and can further include a baseband chip, a modem, etc.

[0161] The memory stores programs for implementing the technical solutions of the present application, and can also store an operating system and other key services. Specifically, the program can include program code, and the program code includes computer operation instructions. More specifically, the memory can include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk memory, a flash, etc.

[0162] The processor can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or can be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a ready-to-use programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0163] The input device can include a device that receives data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor, etc.

[0164] The output device can include a device that allows information to be output to a user, such as a display screen, a printer, a speaker, etc.

[0165] The communication interface can include a device using any transceiver to communicate with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0166] The processor executes the program stored in the memory and invokes other devices, which can be used to implement each step of the control method of any one of the vehicles provided by the embodiments of the present application.

[0167] The computing device can also include a display component, which can be a liquid crystal display or an electronic ink display, and an input device, which can be a touch layer overlaid on the display component, or a key, trackball or trackpad provided on the housing of the computing device, or an external keyboard, trackpad or mouse.

[0168] Those skilled in the art can understand that, Figure 7 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computing device to which the scheme of the present application is applied. A specific computing device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0169] In addition to the above method and device, the control method of the vehicle provided by the embodiments of the present application can also be a computer program product, which includes a computer program that causes the processor to execute the steps of the control method of the vehicle according to various embodiments of the present application described in the above “Exemplary Method” section of the present application when the computer program is run by the processor.

[0170] The computer program product can be written in any combination of one or more programming languages, including object-oriented programming languages, such as Java, C++, and conventional procedural programming languages, such as the “C” language or similar programming languages, to perform the operations of the embodiments of the present application. The program code can be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0171] In addition, the embodiments of the present application also provide a computer readable storage medium having a computer program stored thereon, and the computer program causes the processor to execute the steps of the control method of the vehicle according to various embodiments of the present application described in the above “Exemplary Method” section of the present application.

[0172] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, databases, or other media in this specification shall include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM), or external cache memory. As an illustration but not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0173] Any combination of the technical features of the above embodiments can be made, and in order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present disclosure.

[0174] The above embodiments only express several embodiments of the present disclosure, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the solutions provided by the embodiments of the present disclosure. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present disclosure, a number of modifications and improvements can be made, which are within the scope of the present disclosure. Therefore, the scope of protection of the present disclosure should be subject to the appended claims.

Claims

1. A method for controlling a vehicle, characterized in that, include: Obtain environmental information of the vehicle in the target parking scenario, and determine the target object in the environmental information; Intent detection is performed on the target object. If the target object is detected to have the intention to move the vehicle, the target projection position is determined based on the environmental information. Determine the coded pattern associated with the control object corresponding to the vehicle, and control the projection module of the vehicle to project the coded pattern with reference to the target projection position; In response to the target object's target operation on the encoded graphic, a vehicle relocation request is sent to the control object; The method further includes: Obtain the vehicle's location information and the time information corresponding to the parking operation; Determine the congestion tag corresponding to the location information, and match the congestion time period corresponding to the congestion tag with the time information; If the congestion period matches the time information, a congestion warning instruction is generated. In response to a parking operation for the vehicle, the vehicle's camera is triggered to detect parking spaces based on the congestion warning command, so as to obtain parking space detection information.

2. The method according to claim 1, characterized in that, The method further includes: If the parking space detection information indicates that the vehicle is in an abnormal parking space, then the vehicle is determined to be in the target parking scenario. Correspondingly, obtaining the environmental information of the vehicle in the target parking scenario includes: The camera is controlled to perform environmental detection on the target parking scene in order to obtain environmental information of the vehicle in the target parking scene.

3. The method according to claim 1, characterized in that, The intent detection for the target object, if it is detected that the target object has the intent to move the vehicle, includes: Obtain the location of the object corresponding to the target object; If the object is located at a preset location corresponding to the vehicle, then the duration of stay of the target object is statistically analyzed. If the dwell time reaches the preset duration, it is determined that the target object intends to move its vehicle.

4. The method according to claim 3, characterized in that, Determining the target projection position based on the environmental information includes: Determine the planar information surrounding the vehicle based on the environmental information; Flatness detection is performed based on the aforementioned planar information to determine the projectable area; The position of the projectable area relative to the vehicle is determined to obtain the target projection position.

5. The method according to claim 4, characterized in that, Determining the position of the projectable area relative to the vehicle to obtain the target projection position includes: The projectable area is filtered according to the object location corresponding to the target object to obtain the filtered area; Based on the filtered area, region occupancy detection is performed to determine the target area; The position of the target area relative to the vehicle is determined to obtain the target projection position.

6. The method according to claim 1, characterized in that, The method further includes: Identify the environmental factors in the environmental information that affect the projection; Correspondingly, the projection module controlling the vehicle projects the coded pattern with reference to the target projection position, including: Based on the environmental factors, the vehicle's projection module is controlled to adjust the projection parameters and project the coded graphic with reference to the target projection position.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Get feedback information sent by the controlled object; Determine the visual signal instruction corresponding to the feedback information; Based on the visual signal commands, the vehicle is controlled to perform corresponding feedback operations.

8. A vehicle control device, characterized in that, include: The acquisition unit is used to acquire environmental information of the vehicle in a parking scenario and determine the target object in the environmental information; The detection unit is used to perform intent detection on the target object. If the target object is detected to have the intent to move the vehicle, the target projection position is determined based on the environmental information. The control unit is used to determine the coded pattern of the control object associated with the vehicle, and to control the projection module of the vehicle to project the coded pattern with reference to the target projection position; The control unit is further configured to send a vehicle relocation request to the controlled object in response to the target object's target operation on the encoded graphic; The control unit is also used for: Obtain the vehicle's location information and the time information corresponding to the parking operation; Determine the congestion tag corresponding to the location information, and match the congestion time period corresponding to the congestion tag with the time information; If the congestion period matches the time information, a congestion warning instruction is generated. In response to a parking operation for the vehicle, the vehicle's camera is triggered to detect parking spaces based on the congestion warning command, so as to obtain parking space detection information.

9. A vehicle, characterized in that, The vehicle performs the vehicle control method as described in any one of claims 1-7.

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