Vehicle control method and system, electronic equipment, medium, product and vehicle

Abstract

The invention relates to a vehicle control method and system, electronic equipment, a medium, a product and a vehicle, the method comprises the step of carrying out safety control on the vehicle based on a scene area between a first object and the vehicle, and the accuracy of vehicle safety control is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and in particular, to a vehicle control method, system, device, medium, program product, and vehicle. Background Art

[0002] Due to reasons such as vehicle structure, vision limitations, and driver subjectivity, it is impossible to fully observe the area near the vehicle. These areas are prone to causing misjudgments by the driver about the surrounding traffic conditions, thus leading to traffic accidents. To reduce traffic accidents, some measures are taken to alarm about dangerous situations in the area near the vehicle to achieve vehicle safety control. However, the driving environment is relatively complex, and false alarms and other situations are likely to occur, resulting in low accuracy of vehicle safety control. Summary of the Invention

[0003] Embodiments of this application provide a vehicle control method, system, device, medium, program product, and vehicle, which improve the accuracy of vehicle safety control to at least partially solve the above technical problems.

[0004] To achieve the above object, according to the first aspect of this application, a vehicle control method is provided. The vehicle control method includes:

[0005] Based on the scene area between the first object and the vehicle, perform safety control on the vehicle.

[0006] Optionally, the first object satisfies a first preset condition;

[0007] Wherein, the first preset condition includes being within the safety control area of the vehicle and / or matching a preset feature.

[0008] Optionally, the preset feature includes a first preset motion feature and / or a first preset appearance feature.

[0009] Optionally, the performing safety control on the vehicle based on the scene area between the first object and the vehicle includes:

[0010] When the scene area satisfies the preset safety control condition, perform first safety control on the vehicle; and / or,

[0011] When the scene area does not satisfy the preset safety control condition, perform second safety control on the vehicle.

[0012] Optionally, the preset safety control condition includes:

[0013] There is no second object satisfying the second preset condition on the scene area; and / or,

[0014] The range of the scene area is less than or equal to a preset range.

[0015] Optionally, the scenario area is an area formed based on at least one of the distance between the first object and the vehicle, the size of the first object, and the size of the vehicle.

[0016] Optionally, the method further includes:

[0017] When there is no candidate second object in the scenario area, or the candidate second object does not meet the second preset condition, it is determined that the second object does not exist in the scenario area.

[0018] Optionally, the method further includes:

[0019] When there is a candidate second object in the scenario area and the candidate second object meets the second preset condition, it is determined that the second object exists in the scenario area.

[0020] Optionally, the second preset condition includes: matching with a second preset motion feature and / or matching with a second preset appearance feature.

[0021] Optionally, when there is a second object that meets the second preset condition in the scenario area, second safety control is performed on the vehicle, including:

[0022] Displaying a first rendering interface, where the first rendering interface includes a display area corresponding to the second object.

[0023] Optionally, in the first rendering interface, the display area corresponding to the second object is highlighted.

[0024] Optionally, when the scenario area meets the preset safety control condition, first safety control is performed on the vehicle, including:

[0025] Adjusting the first safety control performed on the vehicle according to the operation-related information of the vehicle.

[0026] Optionally, the operation-related information includes driving behavior data and / or vehicle driving data.

[0027] Optionally, the adjusting the first safety control performed on the vehicle according to the operation-related information of the vehicle includes:

[0028] When the driving behavior data includes steering behavior data, adjusting the first safety control performed on the vehicle.

[0029] Optionally, the adjusting the first safety control performed on the vehicle when the driving behavior data includes steering behavior data includes:

[0030] In a case where the turning direction corresponding to the steering behavior data matches the orientation of the first object relative to the vehicle, a first safety control performed on the vehicle is adjusted.

[0031] Optionally, the steering behavior data includes at least one of steering lever movement data, steering wheel steering data and steering instructions.

[0032] Optionally, adjusting the first safety control performed on the vehicle according to the operation-related information of the vehicle includes:

[0033] When the risk factor of the operation-related information is greater than a preset risk factor, the first safety control performed on the vehicle is adjusted.

[0034] Optionally, the safety level of the first safety control after adjustment is higher than the safety level of the first safety control before adjustment.

[0035] Optionally, the adjusted first safety control includes displaying a second rendering interface and / or an acoustic alarm control;

[0036] The second rendering interface at least includes a display area corresponding to the first object.

[0037] Optionally, in the second rendering interface, a display area corresponding to the first object is highlighted.

[0038] Optionally, when both the first safety control before adjustment and the first safety control after adjustment include controlling the light device to flash, the frequency of controlling the light device to flash in the first safety control before adjustment is less than the frequency of controlling the light device to flash in the first safety control after adjustment.

[0039] Optionally, the safety control includes alarm control and / or assisted driving control, and the alarm control includes at least one of optical alarm control, acoustic alarm control and somatosensory alarm control.

[0040] Optionally, the optical alarm control includes at least one of displaying a simulated detection wave, controlling a light device to flash, and displaying a rendering interface.

[0041] Optionally, the acoustic alarm control includes:

[0042] A sound alarm is issued through a playback device; the sound alarm includes a voice alarm and / or a chirping alarm.

[0043] Optionally, the method further comprises:

[0044] An audible warning is given by a playback device that matches the position of the first object relative to the vehicle.

[0045] Optionally, the method further comprises:

[0046] The detection module detects the security control area to obtain target detection data within the security control area;

[0047] Determine the first object according to the target detection data.

[0048] Optionally, the detection module includes at least two detection devices, and the detection of the security control area by the detection module to obtain target detection data within the security control area includes:

[0049] Detect the security control area by the at least two detection devices to obtain detection data of the at least two detection devices;

[0050] Fuse the detection data of the at least two detection devices to obtain the target detection data.

[0051] Optionally, the at least two detection devices include a radar sensing device and / or an image acquisition device.

[0052] Optionally, the determining the first object according to the target detection data includes:

[0053] According to the target detection data, determine candidate first objects within the security control area that match a preset feature;

[0054] Determine the first object based on the candidate first objects.

[0055] Optionally, the determining the first object based on the candidate first objects includes:

[0056] In the case where there are multiple candidate first objects, determine the candidate first object closest to the vehicle as the first object.

[0057] Optionally, the security control area includes the side area of the vehicle.

[0058] Optionally, the side area includes at least one of the following:

[0059] Left side area, right side area, front side area, and rear side area.

[0060] Optionally, when the vehicle is moving forward, the side area includes the front side area, and when the vehicle is reversing, the side area includes the rear side area.

[0061] Optionally, the longitudinal position of the side area is based on the position of the connecting column between the top of the vehicle and the cabin body, and the end of the vehicle, and the end of the vehicle includes the head end and / or the tail end.

[0062] Optionally, the lateral position of the side region is determined based on the lane width.

[0063] Optionally, the method further includes:

[0064] Obtaining the lane curvature of the lane on which the vehicle travels;

[0065] Adjusting the safety control area according to the lane curvature.

[0066] Optionally, the method further includes;

[0067] When the traveling speed of the vehicle is greater than or equal to a preset speed, performing safety control on the vehicle based on the scene area between the first object and the vehicle.

[0068] According to a second aspect of the present application, there is provided a vehicle safety control system, including:

[0069] A detection module for obtaining detection data within the safety control area of the vehicle;

[0070] A control module for determining, through the detection data, a first object that matches a preset feature within the safety control area of the vehicle; and performing safety control on the vehicle based on the scene area between the first object and the vehicle.

[0071] Optionally, the vehicle safety control system further includes:

[0072] A trigger module for monitoring the operation-related information of the vehicle and sending a trigger signal to the control module according to the operation-related information;

[0073] The control module is further configured to adjust the safety control performed on the vehicle according to the trigger signal.

[0074] According to a third aspect of the present application, there is also provided an electronic device, including a processor, the processor is connected to a memory, the memory stores a computer program, and the processor is configured to run the computer program in the memory to execute any method provided by the embodiments of the present application.

[0075] According to a fourth aspect of the present application, there is provided a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any method provided by the embodiments of the present application.

[0076] According to a fifth aspect of the present application, there is provided a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements any method provided by the embodiments of the present application.

[0077] According to a sixth aspect of the present application, a vehicle is provided that executes any of the methods provided in the embodiments of the present application, or includes any of the electronic devices or vehicle safety control systems provided in the embodiments of the present application.

[0078] In summary, in the embodiments of the present application, through the above technical solutions, based on the scenario area between the first object and the vehicle, the vehicle is safely controlled, which can improve the accuracy of vehicle safety control.

[0079] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative efforts.

[0081] In order to more fully understand the present application and its beneficial effects, the following description will be made in conjunction with the accompanying drawings, where the same reference numerals represent the same parts in the following description.

[0082] Figure 1 is a flowchart of an embodiment of a vehicle control method provided in an embodiment of the present invention;

[0083] Figure 2 is a schematic diagram of a scenario involved in a vehicle control method provided in an embodiment of the present invention;

[0084] Figure 3 is a schematic diagram of a rendering interface provided in an embodiment of the present invention;

[0085] Figure 4 is a schematic diagram of a simulated detection wave provided in an embodiment of the present invention;

[0086] Figure 5 is a schematic diagram of a light device flashing provided in an embodiment of the present invention;

[0087] Figure 6 is a schematic diagram of the structure of a vehicle safety control system provided in an embodiment of the present invention;

[0088] Figure 7 is a schematic diagram of a safety control area provided in an embodiment of the present invention;

[0089] Figure 8 is a schematic diagram comparing the safety control area before and after adjustment provided in an embodiment of the present invention;

[0090] Figure 9 It is a schematic flowchart of an application example provided in an embodiment of the present invention;

[0091] Figure 10 It is a schematic structural diagram of an electronic device provided in an embodiment of the present invention. Detailed implementation manners

[0092] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present application.

[0093] Based on the problems mentioned in the foregoing background art, the driving environment is relatively complex, and false alarms and other situations are likely to occur, resulting in low accuracy of vehicle safety control.

[0094] To solve the above problems, the embodiments of the present application propose a vehicle control method, system, device, medium, program product, and vehicle. After determining the first object of the first preset condition, the vehicle is subjected to first safety control based on the scene area between the first object and the vehicle, which can improve the accuracy of vehicle safety control.

[0095] Specifically, the vehicle control method in the present application can be applied to a vehicle. Subsequently, taking the execution subject of the vehicle control method as a vehicle as an example, each embodiment will be described in detail.

[0096] The present application provides a vehicle control method. Please refer to Figure 1 , the vehicle control method provided by the embodiments of the present application includes step S10, which will be introduced in detail below.

[0097] S10. Perform safety control on the vehicle based on the scene area between the first object and the vehicle.

[0098] In the embodiments of the present application, the first object is an object that needs to be protected safely or threatens the safety of the vehicle, and is also the object for which the vehicle is to be subjected to safety control. For example, in order to avoid collisions between the vehicle and pedestrians or other vehicles, pedestrians or other vehicles can be used as the first object.

[0099] In this embodiment, after the first object is determined, the scene area between the first object and the vehicle can be determined. This scene area can be understood as an area between the first object and the vehicle, and this area can be a one-dimensional area, a two-dimensional area, a three-dimensional area, etc. Safety control can implement control operations for safety protection, such as alarming, assisted driving, etc. The safety control can be a safety control for the first object, which can reduce the collision risk between the first object and the vehicle and ensure the safety of the first object and the vehicle. The scene area is between the first object and the vehicle, which will affect the collision risk between the first object and the vehicle. For example, there are guardrails, walls, raised curbs, etc. on the scene area that can avoid or reduce the collision risk between the first object and the vehicle. Therefore, combining the scene area to perform safety control on the vehicle can improve the accuracy of vehicle safety control, reduce interference to the driver, and further improve driving safety.

[0100] In one embodiment, the first object satisfies a first preset condition; wherein, the first preset condition includes being within the safety control area of the vehicle and / or matching a preset feature.

[0101] In this embodiment, the first preset condition is a condition indicating that the object needs safety protection or threatens the safety of the vehicle. By detecting and identifying or user selection, the first object that satisfies the first preset condition near the vehicle can be determined, so that safety protection can be performed on the first object.

[0102] The first preset condition includes at least one of the two conditions of being within the safety control area of the vehicle and matching a preset feature.

[0103] For the condition of being within the safety control area of the vehicle, when the object is within the safety control area of the vehicle, it can be determined as the first object that meets the first preset condition. The safety control area is an area that needs to be focused on near the vehicle and is the main area targeted by the vehicle for safety control. The safety control area can be the blind area of the vehicle or an area set according to other safety protection requirements. The object within the safety control area can be used as the first object targeted by the safety control.

[0104] For the condition of matching a preset feature, for an object, when the object matches the preset feature, it can be determined as the first object that meets the first preset condition. The preset feature is a feature that is preset and needs to be the object targeted by the safety control. If an object matches the preset feature, it indicates that the identification of safety control needs to be performed on it, and it can be used as the first object targeted by the safety control.

[0105] In one embodiment, the preset feature includes a first preset motion feature and / or a first preset appearance feature.

[0106] In this embodiment, for an object, when the object matches the first preset motion feature and / or the first preset appearance feature, it can be determined as the first object that meets the first preset condition. Specifically, when the motion feature of the object matches the first preset motion feature and / or when the appearance feature of the object matches the first preset appearance feature, it can be determined as the first object that meets the first preset condition.

[0107] In this embodiment, for an object near the vehicle, the motion feature of the object can be obtained, such as the speed of the object relative to the ground or the vehicle, etc., to determine whether the object matches the first preset motion feature in the preset features, and / or, the appearance feature of the object can be obtained, such as the image feature of the object, etc., to determine whether the object matches the first preset appearance feature in the preset features.

[0108] Among them, the first preset motion feature can be a feature indicating that the object is in a motion state. When the object matches the first preset motion feature, it indicates that the object is in a motion state, and it may be a pedestrian, a vehicle, etc., or may approach the vehicle through motion, and there is a collision risk. The object can be determined as the first object that meets the first preset condition. Controlling dynamic objects (such as pedestrians, two-wheeled vehicles, etc.) and not performing safety control on stationary objects such as guardrails and walls along the way can improve the accuracy of safety control and reduce many false alarms.

[0109] The first preset appearance feature can be an appearance feature indicating that the object is prone to a collision risk with the vehicle or indicating that the object needs safety protection, such as the appearance features of objects such as pedestrians and vehicles. When the object matches the first preset appearance feature, the object can be determined as the first object that meets the first preset condition.

[0110] In one embodiment, based on the scene area between the first object and the vehicle, performing safety control on the vehicle may include:

[0111] When the scene area meets the preset safety control condition, performing first safety control on the vehicle; and / or,

[0112] When the scene area does not meet the preset safety control condition, performing second safety control on the vehicle.

[0113] In this embodiment, after determining the scene area, according to the situation on the scene area, it is determined whether the scene area meets the preset safety control condition. The preset safety control condition is a condition indicating that the scene area has no ability to block or reduce the collision risk between the first object and the second object. When the scene area meets the preset safety control condition, it indicates that there is still a certain collision risk between the first object and the second object, and first safety control needs to be performed on the vehicle.

[0114] When the scene area does not meet the preset safety control conditions, it indicates that the collision risk between the first object and the second object will decrease or disappear due to the scene area. In this case, the vehicle can be subject to a second safety control, or no safety control is performed on the vehicle. It can be understood that the safety level of the second safety control can be lower than that of the first safety control. When the scene area meets the preset safety control conditions, the interference to the driver is relatively small, improving the user experience and driving safety.

[0115] In some embodiments, performing a second safety control on the vehicle may also include performing a passive safety control on the vehicle, that is, not performing any safety control on the vehicle.

[0116] By means of the preset safety control conditions, it can be accurately determined whether the scene area can ensure the safety of the first object and the vehicle. When the scene area meets the preset safety control conditions, performing a first safety control on the vehicle can improve the accuracy of the vehicle's safety control.

[0117] In one embodiment, the preset safety control conditions include:

[0118] There is no second object on the scene area that meets the second preset condition; and / or,

[0119] The range of the scene area is less than or equal to a preset range.

[0120] In this embodiment, the preset safety control conditions include that there is no second object on the scene area that meets the second preset condition, that is, there is no second object between the first object and the vehicle that meets the second preset condition. The second preset condition is a condition indicating that the second object can block the collision between the first object and the vehicle, which can reduce the collision risk between the first object and the vehicle. For example, the second object can be an object such as a guardrail, a wall, or a raised curb, or it can also be a terrain object such as a slope, a ditch, or a buffer zone that can block the first object from approaching the vehicle or block the vehicle from approaching the first object, as Figure 2 shown. When there is no second object on the scene area that meets the second preset condition, a safety control can be performed on the vehicle. When there is a second object on the scene area that meets the second preset condition, a second safety control can be performed on the vehicle, or no safety control is performed on the vehicle.

[0121] The preset safety control conditions may also include that the range of the scene area is less than or equal to a preset range. When the range of the scene area is less than or equal to the preset range, this range mainly refers to the range in the direction of the line connecting the vehicle and the first object. The collision risk between the first object and the vehicle is relatively high, and a first safety control needs to be performed on the vehicle. Otherwise, a second safety control can be performed on the vehicle, or no safety control is performed on the vehicle.

[0122] In this embodiment, when there is no second object satisfying the second preset condition in the scene area, and / or when the range of the scene area is not greater than the preset range, first safety control is performed, which can improve the accuracy of the safety control.

[0123] In one embodiment, the scene area is an area formed based on at least one of the distance between the first object and the vehicle, the size of the first object, and the size of the vehicle.

[0124] In this embodiment, the scene area can be an area formed based on at least one of the distance between the first objects, the size of the first objects, and the size of the vehicle. The range of the scene area is affected by at least one of the distance between the first objects, the size of the first objects, and the size of the vehicle.

[0125] In some embodiments, the scene area can be an area determined based on the line connecting the first object and the vehicle.

[0126] In one embodiment, the method further includes:

[0127] When there is no candidate second object in the scene area, or when the candidate second object does not satisfy the second preset condition, it is determined that there is no second object in the scene area.

[0128] In this embodiment, first, it is identified whether there is a candidate second object in the scene area. When there is no candidate second object in the scene area, or when all the existing candidate second objects do not satisfy the second preset condition, it is determined that there is no second object in the scene area.

[0129] In some embodiments, first, it is identified whether there is a candidate second object in the scene area. If there is no candidate second object in the scene area, there is no need to determine whether the second preset condition is satisfied, and it can be directly determined that there is no object that can block or reduce the collision risk in the scene area, and the collision risk between the vehicle and the first object is relatively high, and safety control needs to be performed on the vehicle.

[0130] In one embodiment, the method further includes:

[0131] When there is a candidate second object in the scene area and the candidate second object satisfies the second preset condition, it is determined that there is a second object in the scene area.

[0132] In this embodiment, first, it is identified whether there is a candidate second object in the scene area. When there is a candidate second object in the scene area, it is further determined whether the candidate second object satisfies the above-mentioned second preset condition. When there is at least one candidate second object satisfying the second preset condition, it can be determined that there is a second object in the scene area.

[0133] In one embodiment, the second preset condition includes: matching with a second preset motion feature and / or matching with a second preset appearance feature.

[0134] In this embodiment, the second object meets the second preset condition, that is, the second object matches with the second preset motion feature and / or matches with the second preset appearance feature. For an object, if it is to meet the second preset condition, it is required that the object matches with the second preset motion feature and / or the object matches with the second preset appearance feature. More specifically, it is required that the motion feature of the object matches with the second preset motion feature and / or the appearance feature of the object matches with the second preset appearance feature.

[0135] In this embodiment, for a candidate second object on the identified scene area, the motion feature of the candidate second object can be obtained, such as the speed of the candidate second object relative to the ground, etc., to determine whether the object matches with the second preset motion feature, and / or, for a candidate second object on the identified scene area, the appearance feature of the candidate second object can be obtained, such as the image feature of the candidate second object, etc., to determine whether the candidate second object matches with the second preset appearance feature. If the motion feature of the candidate second object matches with the second preset motion feature and / or the appearance feature of the candidate second object matches with the second preset appearance feature, then the candidate second object meets the second preset condition, and it is determined as the second object that meets the second preset condition.

[0136] Among them, the second preset motion feature can be a motion feature indicating that the object is in a stationary state. For example, the speed of the candidate second object relative to the ground is less than the preset motion speed. When the candidate second object matches with the second preset motion feature, it indicates that the candidate second object is in a stationary state, and it may be an object such as a guardrail and a wall that can block or reduce the collision risk. The candidate second object can be determined as the second object that meets the second preset condition.

[0137] The second preset motion feature can be the appearance feature of an object that can block or reduce the collision risk, such as the appearance features of objects such as guardrails and walls. When the candidate second object matches with the second preset appearance feature, the candidate second object can be determined as the second object that meets the second preset condition.

[0138] In some embodiments, the motion feature of an object can be based on motion information such as the speed of the object, and the appearance feature can refer to features such as the shape, material, and image feature of the object.

[0139] In some embodiments, when the motion characteristics of the candidate second object indicate that the candidate second object is in a stationary state, it can be determined that the candidate second object is a still object such as a guardrail, a wall, or a raised curb set by the roadside, which can block or reduce the collision risk. Thus, it can be quickly determined whether the candidate second object meets the second preset condition.

[0140] In some embodiments, a second preset appearance feature that can represent an object that can block or reduce the collision risk can be preset in advance. The second preset appearance feature can include image features, shape features, etc. of still objects such as guardrails, walls, and raised curbs, or material features of hard objects such as stones and metals. When the appearance feature of the candidate second object matches the second preset appearance feature of an object that can block or reduce the collision risk, it can be considered that the candidate second object can block or reduce the collision risk, thereby quickly and accurately determining whether the candidate second object meets the second preset condition.

[0141] In one embodiment, when the scene area meets the preset safety control condition, a first safety control is performed on the vehicle, including:

[0142] Adjusting the first safety control performed on the vehicle according to the operation-related information of the vehicle.

[0143] In this embodiment, based on the scene area between the first object and the vehicle, the collision risk between the first object and the vehicle can be judged. When the scene area meets the preset safety control condition, a first safety control can be performed on the vehicle. On the basis of performing the first safety control, the first safety control performed on the vehicle can also be adjusted according to the operation-related information of the vehicle, further improving the safety and accuracy of the vehicle.

[0144] In one embodiment, the operation-related information includes driving behavior data and / or vehicle driving data.

[0145] In this embodiment, the operation-related information of the vehicle includes driving behavior data and / or vehicle driving data. Driving behavior data is data related to the behavior of the driver or the intelligent driving control of the vehicle, and vehicle driving data is data related to the driving conditions of the vehicle, such as vehicle speed, yaw rate, and steering angle. Through the driving behavior data and / or vehicle driving data, it can be further judged whether the collision risk between the first object and the vehicle increases or decreases, so as to adjust the safety protection intensity of the first safety control performed on the vehicle, thereby further improving the safety and accuracy of the vehicle.

[0146] In one embodiment, the adjusting the first safety control performed on the vehicle according to the operation-related information of the vehicle includes:

[0147] In a case where the driving behavior data includes steering behavior data, a first safety control performed on the vehicle is adjusted.

[0148] In this embodiment, when the operation-related information includes driving behavior data, it can be determined whether the vehicle has or is about to have a turning behavior based on whether the driving behavior data includes turning behavior data. The turning behavior indicates that the vehicle may change lanes or turn, which will increase the risk of collision. Therefore, when the driving behavior data includes turning behavior data, it is necessary to adjust the first safety control of the vehicle to increase the safety protection strength of the first safety control, thereby reducing the risk of collision during turning and improving vehicle safety.

[0149] In one embodiment, when the driving behavior data includes steering behavior data, adjusting the first safety control performed on the vehicle includes:

[0150] In a case where the turning direction corresponding to the steering behavior data matches the orientation of the first object relative to the vehicle, a first safety control performed on the vehicle is adjusted.

[0151] In this embodiment, when the driving behavior data includes steering behavior data, the turning direction corresponding to the vehicle's steering behavior can be determined based on the steering behavior data. When the turning direction corresponding to the steering behavior data matches the orientation of the first object relative to the vehicle, it indicates that the vehicle is traveling toward the first object, and it is necessary to adjust the first safety control of the vehicle to increase the protection strength of the first safety control, thereby more accurately controlling the vehicle and improving vehicle safety.

[0152] In one embodiment, the steering behavior data includes at least one of steering lever movement data, steering wheel steering data and steering instructions.

[0153] In this embodiment, the steering behavior data may include steering lever movement data, which is data generated by the driver moving the steering lever; the steering wheel rotation data is data generated by the driver turning the steering wheel; the steering lever movement data and the steering wheel steering data may be data obtained by detecting steering behavior, or may be data directly output by these two structures when the steering lever is moved and the steering wheel is turned; the steering command is data passing through the vehicle controller, which may be a command issued or received by the vehicle controller, such as an intelligent driving command or a command sent by the driver to the vehicle controller through other channels, such as a voice command.

[0154] In one embodiment, adjusting the first safety control performed on the vehicle according to the operation-related information of the vehicle includes:

[0155] When the risk coefficient of the running correlation information is greater than the preset risk coefficient, adjust the first safety control performed on the vehicle.

[0156] In this embodiment, the risk coefficient during the vehicle operation can be determined according to the running correlation information. When the risk coefficient of the running correlation information is greater than the preset risk coefficient, for example, dangerous driving behaviors (such as the driver being unconscious, playing with the mobile phone, etc.), excessive vehicle speed, excessive yaw rate of the vehicle body, excessive vehicle steering angle, etc. occur, the first safety control performed on the vehicle can be adjusted to increase the safety protection intensity and further ensure vehicle safety.

[0157] In one embodiment, the safety level of the first safety control after adjustment is higher than the safety level of the first safety control before adjustment.

[0158] In this embodiment, the safety level of the first safety control after adjustment is higher than the safety level of the first safety control before adjustment. Using the first safety control after adjustment is safer than using the first safety control before adjustment. After adjusting the first safety control performed on the vehicle, the safety protection intensity can be increased to achieve secondary safety protection, which can further ensure driving safety. Through this design of hierarchical safety control, safety control can be reasonably carried out, the interference to the driver can be reduced, and the safety and the accuracy of safety control can be further improved.

[0159] In one embodiment, the first safety control after adjustment includes displaying a second rendering interface and / or acoustic alarm control;

[0160] Wherein, the second rendering interface at least includes a display area corresponding to the first object.

[0161] In this embodiment, the first safety control before adjustment may not include displaying a second rendering interface and acoustic alarm control. When adjusting the first safety control, the safety control operations taken by the first safety control can be increased so that the first safety control after adjustment includes displaying a second rendering interface and / or acoustic alarm control.

[0162] Wherein, the second rendering interface at least includes a display area corresponding to the first object, so that the driver can pay more attention to the first object.

[0163] In some embodiments, the second rendering interface may further include a display area corresponding to the environment where the first object is located, so that the driver can more conveniently determine the position of the first object through the second rendering interface, and thus it is easier to pay attention to avoiding the first object.

[0164] In some embodiments, when the first preset condition includes being within the safety control area of the vehicle, the second rendering interface may be an interface rendered for the safety control area of the vehicle. Thus, the second rendering interface may include a display area corresponding to the first object, and also include a display area corresponding to the environment where the first object is located. The interface rendered for the safety control area may be an image interface generated based on target detection data obtained by detecting the safety control area, and this interface may be an SR (Surrounding Reality) rendering interface.

[0165] Displaying the second rendering interface can visually remind the driver to pay attention to avoiding the first object. Acoustic alarm control refers to alarm control achieved through sound. These two control operations have a greater intensity in reminding the driver, making it easier for the driver to pay attention to avoiding collisions with the first object and improving driving safety.

[0166] In one embodiment, in the second rendering interface, the display area corresponding to the first object is highlighted.

[0167] In this embodiment, the second rendering interface includes a display area corresponding to the first object. The display area corresponding to the first object can be highlighted in the second rendering interface to distinguish the first object from other objects corresponding to other display areas in the second rendering interface. For example, Figure 3 as shown, making it easier for the driver to pay attention to the first object, so as to take measures to avoid the risk of collision with the first object and further improve driving safety.

[0168] In one embodiment, when both the first safety control before adjustment and the first safety control after adjustment include controlling the flashing of a light device, the frequency of the flashing of the light device in the first safety control before adjustment is less than the frequency of the flashing of the light device in the first safety control after adjustment.

[0169] In this embodiment, when both the first safety control before adjustment and the first safety control after adjustment include controlling the flashing of a light device, when performing the first safety control, the control operation of controlling the flashing of the light device needs to be adopted. The light device can be a warning light, a display screen, an instrument panel, etc., which can emit light. The first safety control before adjustment and the first safety control after adjustment can be distinguished by changing the flashing frequency of the light device. The frequency of the flashing of the light device in the first safety control before adjustment is less than the frequency of the flashing of the light device in the first safety control after adjustment, so that the first safety control after adjustment can alarm with a greater intensity to better remind the driver to pay attention to driving and ensure driving safety.

[0170] In one embodiment, when there is a second object satisfying the second preset condition in the scene area, performing a second safety control on the vehicle includes:

[0171] Display a first rendering interface, and a display area corresponding to the second object is included in the first rendering interface.

[0172] In this embodiment, when there is a second object on the scene area that meets the second preset condition, that is, when the scene area meets the preset safety control condition, the second safety control performed on the vehicle may include displaying a first rendering interface, and a display area corresponding to the second object existing on the scene area is included in the first rendering interface, so as to remind the driver of the second object, allowing him to drive with confidence and improving the driving experience.

[0173] In one embodiment, in the first rendering interface, the display area corresponding to the second object is highlighted to more easily notice the second object existing on the scene area.

[0174] In one embodiment, the safety control includes alarm control and / or assisted driving control, and the alarm control includes at least one of optical alarm control, acoustic alarm control, and somatosensory alarm control.

[0175] In this embodiment, for the first safety control before adjustment, the first safety control after adjustment, and the second safety control, they may respectively include alarm control and / or assisted driving control. Alarm control is a control operation that indirectly changes the driving behavior of the vehicle by reminding the driver, and assisted driving control is a control operation that can directly intervene in the driving behavior of the vehicle, such as assisted steering, assisted deceleration, etc. Alarm control and assisted driving control are operations that can improve driving safety.

[0176] Among them, the alarm control may include at least one of optical alarm control, acoustic alarm control, and somatosensory alarm control. Optical alarm control is a control operation that realizes alarm through light display, acoustic alarm control is a control operation that realizes alarm through broadcasting, and somatosensory alarm control is a control operation that realizes alarm by changing the somatosensation of passengers such as the driver, such as seat vibration, steering wheel vibration, etc.

[0177] In one embodiment, the optical alarm control includes at least one of displaying a simulated detection wave, controlling the flashing of a light device, and displaying a rendering interface.

[0178] In this embodiment, displaying a simulated detection wave means realizing alarm by controlling devices such as a display screen and an instrument panel to display a simulated detection wave. The orientation of the simulated detection wave may match the orientation of the first object or the safety control area relative to the vehicle to remind the driver to pay attention to the first object or the safety control area in that orientation, as Figure 4 shown.

[0179] In this embodiment, controlling the flashing of the lighting device means controlling the flashing of the lighting device inside the vehicle. Specifically, it can be controlling the flashing of the lighting device associated with the vehicle that matches the orientation of the first object relative to the vehicle to alert the driver to pay attention to the first object or the safety control area in that orientation, such as Figure 5 as shown.

[0180] In this embodiment, displaying the rendering interface can be achieved by controlling devices such as the display screen and the instrument panel to display the rendering interface, which can be any of the above-mentioned first rendering interface, second rendering interface, etc. Taking the adjusted first safety control as an example, it can display the first rendering interface as Figure 3 shown, where the display area corresponding to the first object can also be highlighted.

[0181] In one embodiment, the acoustic alarm control includes:

[0182] sounding an alarm through a playback device; the sound alarm includes a voice alarm and / or a beeping alarm.

[0183] In this embodiment, an alarm can also be sounded through a playback device, and the sound alarm can be a voice alarm and / or a beeping alarm to prompt the driver to avoid risks.

[0184] In one embodiment, sounding an alarm through the playback device inside the vehicle includes:

[0185] sounding an alarm through a playback device that matches the orientation of the first object relative to the vehicle.

[0186] In this embodiment, an alarm can also be sounded through a playback device that matches the orientation of the first object relative to the vehicle to alert the driver to pay attention to the first object or the safety control area in that orientation.

[0187] In one embodiment, the method further includes:

[0188] detecting the safety control area through a detection module to obtain target detection data within the safety control area;

[0189] determining the first object according to the target detection data.

[0190] In this embodiment, the safety control area is detected through a detection module to obtain target detection data within the safety control area. The target detection data can obtain the positions, speeds, accelerations, heights, widths, types, etc. of various objects within the safety control area, so as to determine the first object according to the target detection data, and whether the scene area between the first object and the vehicle meets the preset safety control conditions, such as whether there is a second object or whether the range of the scene area is less than or equal to the preset range.

[0191] In one embodiment, the detection module includes at least two detection devices. Detecting the security control area through the detection module to obtain target detection data within the security control area includes:

[0192] Detecting the security control area through the at least two detection devices to obtain detection data of the at least two detection devices;

[0193] Fusing the detection data of the at least two detection devices to obtain the target detection data.

[0194] In this embodiment, detecting the security control area through at least two detection devices can obtain richer detection data, and fusing the detection data of at least two detection devices can obtain more accurate target detection data, making the identification of the security control area more accurate.

[0195] In one embodiment, the at least two detection devices include a radar sensing device and / or an image acquisition device.

[0196] In this exemplary embodiment, the at least two detection devices include a radar sensing device and / or an image acquisition device. The detection device can be a radar sensing device, an image acquisition device, etc. The radar sensing device can be a millimeter-wave radar, etc., and the image acquisition device can be a camera, etc.

[0197] In one example, as Figure 6 shown, the at least two detection devices may include a radar sensing device disposed on the left front side of the vehicle itself and a camera disposed on the left front side of the vehicle itself for detecting the left front side area, or the at least two detection devices may include a radar sensing device disposed on the right front side of the vehicle itself and a camera disposed on the right front side of the vehicle itself for detecting the right front side area.

[0198] In one embodiment, determining the first object according to the target detection data includes:

[0199] Determining candidate first objects within the security control area that match a preset feature according to the target detection data;

[0200] Determining the first object based on the candidate first objects.

[0201] In this embodiment, according to the target detection data, candidate first objects within the security control area that match a preset feature can be determined first. The candidate first objects are within the security control area and match the preset feature, meeting the first preset condition. The first object to be subject to security control is determined from the candidate first objects that meet the first preset condition.

[0202] In one embodiment, determining the first object based on the candidate first object includes:

[0203] In the case where there are multiple candidate first objects, determining the candidate first object closest to the vehicle as the first object.

[0204] In this embodiment, in the case where there is one candidate first object, determining the candidate first object closest to the vehicle as the first object. In the case where there are multiple candidate first objects, determining the candidate first object closest to the vehicle as the first object can, on the one hand, avoid frequent alarms, and on the other hand, perform safety control on the first object with the highest collision risk at the closest distance, which can improve the accuracy of safety control and reduce unnecessary computational costs.

[0205] In one embodiment, the safety control area includes the lateral area of the vehicle.

[0206] In this embodiment, the safety control area may include the lateral area of the vehicle. The lateral area is located on both sides of the vehicle to avoid the risk of lateral collision of the vehicle.

[0207] In one embodiment, the lateral area includes at least one of the following:

[0208] The left lateral area, the right lateral area, the front lateral area, and the rear lateral area.

[0209] In this embodiment, according to different driving scenarios of the vehicle, the safety control area may include at least one of the left lateral area, the right lateral area, the front lateral area, and the rear lateral area. For example, when the vehicle turns to the left, the safety control area may only include the left lateral area.

[0210] In one embodiment, when the vehicle is moving forward, the lateral area includes the front lateral area, and when the vehicle is reversing, the lateral area includes the rear lateral area.

[0211] In this embodiment, when the vehicle is moving forward, the lateral area included in the safety control area may be the front lateral area, and when the vehicle is reversing, the lateral area included in the safety control area may be the rear lateral area, thereby improving the safety of the vehicle when moving forward and reversing.

[0212] In one embodiment, the longitudinal position of the lateral area is based on the position of the connecting column between the vehicle top and the cabin, and the vehicle end, where the vehicle end includes the front end and / or the rear end of the vehicle.

[0213] In this embodiment, the length of the lateral area included in the safety control area is determined based on the position of the connecting column between the vehicle top and the cabin, and the vehicle end, where the vehicle end includes the front end and / or the rear end of the vehicle. Among them, for the front lateral area included in the safety control area, the front edge is flush with the front end of the vehicle (such as the front bumper), and the rear edge is flush with the connecting column (such as the A-pillar) between the vehicle top and the cabin, as Figure 7 shown.

[0214] In one embodiment, the lateral position of the lateral area is determined based on the lane width.

[0215] In this embodiment, the width of the lateral position of the lateral area can be X m of the lane width. As Figure 7 shown, for the left lateral area, the left body of the vehicle is used as the first boundary, and the position X m away from the left body is used as the second boundary to determine the lateral position of the lateral area. For the right lateral area, the right body of the vehicle is used as the first boundary, and the position X m away from the right body is used as the second boundary to determine the lateral position of the lateral area. The lane width can be the known standard road width, and X ∈ [3.5, 3.75] is optional, or the lane width is the lane width of the lane on which the vehicle is traveling determined in real time.

[0216] In some embodiments, the safety control area for the vehicle includes the left front area and the right front area of the vehicle, as Figure 7 shown. The front edge of the left front area is flush with the front end of the vehicle, the rear edge of the left front area is flush with the connecting column on the left between the vehicle top and the front driver's cabin, and the lateral width of the left front area is the lane width X. The front edge of the right front area is flush with the front end of the vehicle, the rear edge of the right front area is flush with the connecting column on the right between the vehicle top and the front driver's cabin, and the lateral width of the right front area is the lane width X. The sequentially divided left front area and right front area are the left and right blind spots when the vehicle is traveling. In the embodiment of the present application, through the above division method of the safety control area, the left and right blind spots when the vehicle is traveling can be clarified, and the left and right blind spots of the vehicle are defined in detail, and this is used as the basis for vehicle safety control, which can improve the driving safety of the vehicle.

[0217] In one embodiment, the method further includes:

[0218] Obtaining the lane curvature of the lane on which the vehicle is traveling;

[0219] Adjusting the safety control area according to the lane curvature.

[0220] In this embodiment, for a curved road scenario, due to the influence of the curve curvature, there may be situations where a target object is missed during detection and a function fails to give an alarm. Therefore, the safety control area can be adjusted accordingly according to the lane curvature to prevent a collision target object from existing in the alarm area, as Figure 8 shown.

[0221] In one embodiment, the method further includes;

[0222] When the driving speed of the vehicle is greater than or equal to a preset speed, based on the scene area between the first object and the vehicle, perform safety control on the vehicle.

[0223] In this embodiment, when the driving speed of the vehicle is greater than or equal to a preset speed, based on the scene area between the first object and the vehicle, perform safety control on the vehicle. The preset speed can be 15 km / h. This embodiment focuses on safety control at high speeds (vehicle speed > 15 km / h), is applicable to high-speed scenarios, and can ensure the safety of vehicles traveling at high speeds.

[0224] This embodiment also provides a vehicle safety control system, as Figure 6 shown, including:

[0225] A detection module, configured to obtain detection data within the safety control area of the vehicle;

[0226] A control module, configured to determine, based on the detection data, a first object within the safety control area of the vehicle that matches a preset feature; and perform safety control on the vehicle based on the scene area between the first object and the vehicle.

[0227] In one embodiment, the vehicle safety control system further includes:

[0228] A trigger module, configured to monitor the operation-related information of the vehicle and send a trigger signal to the control module according to the operation-related information;

[0229] The control module is further configured to adjust the safety control performed on the vehicle according to the trigger signal, so as to adjust the safety control performed on the vehicle according to the operation-related information of the vehicle.

[0230] Among them, after performing the first safety control on the vehicle when the scene area between the first object and the vehicle meets the preset safety control conditions, according to the trigger signal, adjust the first safety control performed on the vehicle, so as to realize that after performing the first safety control on the vehicle when the scene area between the first object and the vehicle meets the preset safety control conditions, according to the operation-related information of the vehicle, adjust the first safety control performed on the vehicle to achieve secondary safety protection.

[0231] In this embodiment, dividing the trigger condition for adjusting the first safety control according to the operation-related information to a trigger module outside the control module can reduce the operation pressure of the control module, improve the calculation efficiency, and can improve the accuracy of safety control.

[0232] In one embodiment, the vehicle safety control system further includes:

[0233] An optical alarm device, which includes a first optical alarm sub-device, a second optical alarm sub-device, and a third optical alarm sub-device.

[0234] In one embodiment, the vehicle safety control system further includes: an acoustic alarm device.

[0235] When performing the first safety control, the control module can control the first optical alarm sub-device to display a simulated detection wave and control the second optical alarm sub-device to blink.

[0236] When performing the second safety control, the control module can control the first optical alarm sub-device to display a simulated detection wave, control the second optical alarm sub-device to blink, control the third optical alarm sub-device to display the rendering interface of the safety control area, and control the acoustic alarm device to perform voice alarm and / or beeping alarm.

[0237] In one embodiment, the blinking frequency of the second optical alarm sub-device when performing the first safety control before adjustment is less than that when performing the first safety control after adjustment, so as to distinguish different levels of the first safety control.

[0238] In one embodiment, the control module further includes a fusion processing module, which is used to fuse the detection data collected by at least two detection devices in the detection module to obtain target detection data, and the detection data is used for subsequent decision-making processes.

[0239] In one embodiment, the control module further includes a decision-making module to make a decision based on the obtained target detection data, determine whether to perform the first safety control, the second safety control, or whether to adjust the first safety control, etc.

[0240] In one embodiment, the control module further includes an acoustic alarm driver and an optical alarm driver, which are respectively used to control the acoustic alarm device or the optical alarm device to perform specific alarm operations.

[0241] Based on the above embodiments, a specific application example is provided below for illustration, as Figure 9 shown:

[0242] The above vehicle safety control system is installed on the vehicle and is used to execute any of the above vehicle safety control methods. After the vehicle activates the safety protection function, it detects the left / right front side area of the vehicle through any millimeter-wave radar or camera installed on the left / right front side of the vehicle, sends the detected data to the fusion processing module for fusion, and outputs target detection data to determine whether there is a third object in the left / right front side area. If there is, it checks whether the driving speed of the vehicle is greater than 15 km / h. If it is greater, it determines whether the third object is dynamic. If so, it determines whether there is a second object such as a guardrail, which is static and located in the scene area between the third object and the vehicle, in the left / right front side area. If there is, no safety control such as alarm is performed. If not, the first safety control including a first-level alarm is performed. At the same time, the trigger module determines whether to trigger the second safety control including a second-level alarm according to the operation-related information of the vehicle. If triggered, the second safety control including a first-level alarm is performed. The first-level alarm is implemented through the first optical alarm sub-device and the second optical alarm sub-device, and the second-level alarm is implemented through the first optical alarm sub-device, the second optical alarm sub-device, the third optical alarm sub-device, and the acoustic alarm sub-device.

[0243] For the specific implementation of each of the above operations, reference can be made to the previous embodiments and will not be elaborated here.

[0244] Correspondingly, an embodiment of the present application also provides an electronic device, as Figure 10 shown, Figure 10 which is a schematic structural diagram of the electronic device provided by the embodiment of the present application. The electronic device 1100 further includes a processor 1101 with one or more processing cores, a memory 1102 with one or more computer-readable storage media, and a computer program stored on the memory 1102 and executable on the processor. Among them, the processor 1101 is electrically connected to the memory 1102. Those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the electronic device, and it may include more or fewer components than shown in the figure, or combine certain components, or arrange different components.

[0245] The processor 1101 is the control center of the electronic device 1100, connecting various parts of the entire electronic device 1100 through various interfaces and circuits. By running or loading software programs and / or units stored in the memory 1102, and invoking the data stored in the memory 1102, it executes various functions of the electronic device 1100 and processes data, thereby monitoring the entire electronic device 1100. The processor 1101 can be a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.

[0246] In the embodiments of the present application, the processor 1101 in the electronic device 1100 will load the instructions corresponding to the processes of one or more application programs into the memory 1102 according to the following steps, and the processor 1101 will run the application programs stored in the memory 1102 to implement various functions, such as:

[0247] Based on the scene area between the first object and the vehicle, perform safety control on the vehicle.

[0248] For the specific implementation of each of the above operations, reference can be made to the previous embodiments and will not be elaborated here.

[0249] Optionally, as Figure 10 shown, the electronic device 1100 further includes: a touch display screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. Among them, the processor 1101 is electrically connected to the touch display screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107 respectively. Those skilled in the art can understand that Figure 10 the structure of the electronic device shown in

[0250] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by a user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the electronic device. These graphical user interfaces can be composed of graphics, text, icons, videos, and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel can be used to collect touch operations of the user on or near it (such as operations of the user using any suitable object or accessory such as a finger or a stylus on or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute the corresponding program. Optionally, the touch panel can include two parts: a touch detection device and a touch electronic device. Among them, the touch detection device detects the touch orientation of the user, detects the signal brought by the touch operation, and transmits the signal to the touch electronic device; the touch electronic device receives the touch information from the touch detection device, converts it into contact coordinates, and then sends it to the processor 1101, and can receive and execute the commands sent by the processor 1101. The touch panel can cover the display panel. After the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event. Subsequently, the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In the embodiment of the present invention, the touch panel and the display panel can be integrated into the touch display screen 1103 to implement input and output functions. However, in some embodiments, the touch panel and the touch panel can be implemented as two independent components to implement input and output functions. That is, the touch display screen 1103 can also be used as a part of the input unit 1106 to implement the input function.

[0251] The radio frequency circuit 1104 can be used to transmit and receive radio frequency signals to establish wireless communication with a network medical device or other devices through wireless communication, and transmit and receive signals with the network medical device or other devices.

[0252] The audio circuit 1105 can be used to provide an audio interface between the user and the electronic device through a speaker and a microphone. The audio circuit 1105 can transmit the electrical signal converted from the received audio data to the speaker, which converts it into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and then converted into audio data. After the audio data is output and processed by the processor 1101, it is sent through the radio frequency circuit 1104 to, for example, another device, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earphone jack to provide communication between the peripheral earphone and the electronic device.

[0253] The input unit 1106 can be used to receive input digital, character information or user characteristic information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0254] The power supply 1107 is used to supply power to each component of the electronic device 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so as to realize functions such as management of charging, discharging, and power consumption management through the power management device. The power supply 1107 may also include any components such as one or more DC or AC power supplies, a recharge device, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0255] Although Figure 10 not shown in the figure, the electronic device 1100 may also include a camera, a sensor, a Wi-Fi module, a Bluetooth module, etc., which will not be elaborated here.

[0256] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0257] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed through instructions, or through instructions to control relevant hardware. The instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0258] Therefore, an embodiment of the present application provides a computer-readable storage medium, in which multiple computer programs are stored. The computer programs can be loaded by a processor to execute any vehicle control method provided by the embodiments of the present application. The computer programs can execute the following steps of the vehicle control method:

[0259] Based on the scenario area between the first object and the vehicle, perform safety control on the vehicle.

[0260] For the specific implementation of each of the above operations, reference may be made to the foregoing embodiments, which will not be elaborated herein.

[0261] Among them, the computer-readable storage medium may include: Read Only Memory (ROM), Random Access Memory (RAM), magnetic disk or optical disc, etc.

[0262] Since the computer-readable storage medium can store a computer program that can achieve the beneficial effects of any vehicle control method provided in the embodiments of the present application and can execute any vehicle control method provided in the embodiments of the present application, for the effects, reference may be made to the foregoing embodiments, which will not be elaborated herein.

[0263] The embodiments of the present application further provide a computer program product, which can be loaded by a processor to execute any vehicle control method provided in the embodiments of the present application. For the specific implementation of each operation of the vehicle control method, reference may be made to the foregoing embodiments, which will not be elaborated herein.

[0264] Since the computer program can execute any vehicle control method provided in the embodiments of the present application and can achieve the beneficial effects of any vehicle control method provided in the embodiments of the present application, for its beneficial effects, reference may be made to the foregoing embodiments, which will not be elaborated herein.

[0265] The embodiments of the present application further provide a vehicle, which includes any one of the above electronic devices, vehicle safety control systems, computer-readable storage media, computer program products, or executes any one of the above methods.

[0266] In the description of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0267] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not elaborated in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0268] Among the embodiments, embodiments, and related technical features of the present application, they can be combined and replaced with each other without conflict.

[0269] The above are only the preferred embodiments of the present application, and do not impose any formal restrictions on the present application. However, any simple modifications, equivalent changes, and decorations made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that, The vehicle control method comprises: The vehicle is safely controlled based on a scene area between the first object and the vehicle.

2. The method according to claim 1, wherein The first object satisfies a first preset condition; The first preset condition includes being within a safety control area of ​​the vehicle and / or matching a preset feature.

3. The method according to claim 2, wherein The preset features include a first preset motion feature and / or a first preset appearance feature.

4. The method according to claim 1, wherein The method of safely controlling the vehicle based on a scene area between the first object and the vehicle includes: When the scene area satisfies a preset safety control condition, performing a first safety control on the vehicle; and / or, When the scene area does not satisfy the preset safety control condition, a second safety control is performed on the vehicle.

5. The method according to claim 4, wherein The preset safety control conditions include: There is no second object satisfying the second preset condition in the scene area; and / or, The range of the scene area is smaller than or equal to a preset range.

6. The method according to claim 5, wherein The scene area is an area formed based on at least one of a distance between the first object and the vehicle, a size of the first object, and a size of the vehicle.

7. The method according to claim 5, characterized in that, The method further comprises: When there is no candidate second object in the scene area, or the candidate second object does not satisfy the second preset condition, it is determined that there is no second object in the scene area.

8. The method according to claim 5, wherein The method further comprises: If there is a candidate second object in the scene area and the candidate second object meets the second preset condition, it is determined that the second object exists in the scene area.

9. The method according to any one of claims 5 to 8, characterized in that, The second preset condition includes: matching with a second preset motion feature and / or matching with a second preset appearance feature.

10. The method according to any one of claims 5-8, characterized in that, When there is a second object satisfying a second preset condition in the scene area, performing a second safety control on the vehicle includes: A first rendering interface is displayed, where the first rendering interface includes a display area corresponding to the second object.

11. The method according to claim 10, characterized in that, In the first rendering interface, a display area corresponding to the second object is highlighted.

12. The method according to claim 4, wherein When the scene area meets the preset safety control condition, performing a first safety control on the vehicle includes: A first safety control performed on the vehicle is adjusted according to the operation-related information of the vehicle.

13. The method according to claim 12, characterized in that, The operation-related information includes driving behavior data and / or vehicle travel data.

14. The method according to claim 13, wherein The step of adjusting the first safety control performed on the vehicle according to the operation-related information of the vehicle includes: In a case where the driving behavior data includes steering behavior data, a first safety control performed on the vehicle is adjusted.

15. The method according to claim 13, characterized in that, When the driving behavior data includes steering behavior data, adjusting the first safety control performed on the vehicle includes: In a case where the turning direction corresponding to the steering behavior data matches the orientation of the first object relative to the vehicle, a first safety control performed on the vehicle is adjusted.

16. The method according to claim 14, wherein The steering behavior data includes at least one of steering lever movement data, steering wheel steering data and steering instructions.

17. The method according to claim 12, wherein The step of adjusting the first safety control performed on the vehicle according to the operation-related information of the vehicle includes: When the risk coefficient of the operation correlation information is greater than the preset risk coefficient, adjust the first safety control for the vehicle.

18. The method according to claim 12, wherein, The safety level of the first safety control after adjustment is higher than that of the first safety control before adjustment.

19. The method according to claim 12, wherein The first safety control after adjustment includes displaying a second rendering interface and / or acoustic alarm control; Wherein, at least the display area corresponding to the first object is included in the second rendering interface.

20. The method according to claim 19, wherein In the second rendering interface, the display area corresponding to the first object is highlighted.

21. The method according to claim 12, wherein When both the first safety control before adjustment and the first safety control after adjustment include controlling the light device to blink, the frequency of controlling the light device to blink in the first safety control before adjustment is less than the frequency of controlling the light device to blink in the first safety control after adjustment.

22. The method according to any one of claims 1-21, characterized in that, The safety control includes alarm control and / or assisted driving control, and the alarm control includes at least one of optical alarm control, acoustic alarm control, and somatosensory alarm control.

23. The method according to claim 22, wherein The optical alarm control includes at least one of displaying an analog detection wave, controlling the light device to blink, and displaying a rendering interface.

24. The method according to claim 22, wherein The acoustic alarm control includes: Performing a sound alarm through a playback device; the sound alarm includes voice alarm and / or beeping alarm.

25. The method according to claim 24, wherein The method further includes: Performing a sound alarm through a playback device that matches the orientation of the first object relative to the vehicle.

26. The method according to any one of claims 1 to 25, characterized in that, The method further includes: Detecting a safety control area through a detection module to obtain target detection data within the safety control area; Determining the first object according to the target detection data.

27. The method according to claim 26, wherein The detection module includes at least two detection devices, and detecting a safety control area through the detection module to obtain target detection data within the safety control area includes: Detecting the safety control area through the at least two detection devices to obtain detection data of the at least two detection devices; Fusing the detection data of the at least two detection devices to obtain the target detection data.

28. The method according to claim 27, wherein The at least two detection devices include a radar sensing device and / or an image acquisition device.

29. The method according to claim 26, wherein The determining the first object according to the target detection data includes: Determining a candidate first object that matches a preset feature within the safety control area according to the target detection data; Determining the first object based on the candidate first object.

30. The method according to claim 29, wherein The determining the first object based on the candidate first object includes: When there are multiple candidate first objects, determining the candidate first object closest to the vehicle as the first object.

31. The method according to claim 2 or 26, characterized in that, The safety control area includes the side area of the vehicle.

32. The method according to claim 31, wherein The side area includes at least one of the following: Left side area, right side area, front side area, and rear side area.

33. The method according to claim 32, characterized in that, When the vehicle is moving forward, the side area includes the front side area, and when the vehicle is reversing, the side area includes the rear side area.

34. The method according to claim 31, wherein The longitudinal position of the side area is based on the position of the connecting column between the vehicle top and the cabin body, and the vehicle end, and the vehicle end includes the head end and / or the tail end.

35. The method according to claim 31, wherein, The lateral position of the side area is based on the lane width.

36. The method according to claim 2 or 26, characterized in that, The method further includes: Obtain the lane curvature of the lane on which the vehicle is traveling; Adjust the safety control area according to the lane curvature.

37. The method according to any one of claims 1-36, characterized in that, The method further includes; When the traveling speed of the vehicle is greater than or equal to a preset speed, perform safety control on the vehicle based on the scene area between the first object and the vehicle.

38. A vehicle safety control system, characterized in that, Includes: A detection module for obtaining detection data within the safety control area of the vehicle; A control module for determining, through the detection data, a first object that matches a preset feature within the safety control area of the vehicle; and performing safety control on the vehicle based on the scene area between the first object and the vehicle.

39. The vehicle safety control system according to claim 38, wherein, The vehicle safety control system further includes: A trigger module for monitoring the operation-related information of the vehicle and sending a trigger signal to the control module according to the operation-related information; The control module is further configured to adjust the safety control performed on the vehicle according to the trigger signal.

40. An electronic device, characterized in that, Includes a processor, the processor is connected to a memory, the memory stores a computer program, and the processor is configured to run the computer program in the memory to execute the vehicle control method according to any one of claims 1 to 37.

41. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 37 is implemented.

42. A computer program product, characterized in that, It includes a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 37 is implemented.

43. A vehicle, characterized in that, The vehicle executes the vehicle control method according to any one of claims 1-37, or includes the vehicle safety control system according to claim 38 or 39 or the electronic device according to claim 40.

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