Vehicle control apparatus, method, vehicle, computer readable storage medium, and computer program product

Abstract

The invention relates to a vehicle control device and method, a vehicle, a computer readable storage medium and a computer program product. The vehicle control device comprises a state detection module used for sending a starting signal to a cooperative control module when it is detected that a vehicle is in an emergency braking state; the cooperative control module is used for sending cooperative control signals to the touch warning control unit, the visual warning control unit and the auditory warning control unit after being started; the tactile warning control unit is used for controlling a target device on the vehicle to carry out tactile warning after receiving the cooperative control signal; the visual warning control unit is used for cooperatively controlling an in-vehicle visual warning device and an out-vehicle visual warning device on the vehicle to perform visual warning after receiving the cooperative control signal; and the auditory warning control unit is used for controlling an audio device on the vehicle to emit a warning audio after receiving the cooperative control signal so as to carry out auditory warning. By adopting the method, the emergency brake warning effect can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a vehicle control device, method, vehicle, computer-readable storage medium, and computer program product. Background Art

[0002] With the development of vehicle technology, braking warning control devices have gradually emerged on vehicles. When a vehicle makes an emergency braking action, the vehicle can use the braking warning control device to give a warning to the outside world.

[0003] Currently, when a vehicle makes an emergency braking action, it usually controls the taillights to turn on to give a warning to the following vehicles behind it, so as to prompt the following vehicles to keep a safe distance.

[0004] However, as vehicles become more and more intelligent, users' driving patterns for vehicles are also constantly evolving. This method of only turning on the taillights during emergency braking cannot achieve a good warning effect, and the effect of emergency braking warning is poor. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a vehicle control device, method, vehicle, computer-readable storage medium, and computer program product that can improve the warning effect during emergency braking.

[0006] In a first aspect, the present application provides a vehicle control device applied to a vehicle. The device includes:

[0007] A status detection module, configured to send a start signal to a collaborative control module when it detects that the vehicle is in an emergency braking state;

[0008] A collaborative control module, configured to control the vehicle to be in a collaborative warning state after receiving the start signal, and send a collaborative control signal to a plurality of warning control units when the vehicle is in the collaborative warning state. The plurality of warning control units include a tactile warning control unit, a visual warning control unit, and an auditory warning control unit;

[0009] The tactile warning control unit is configured to control a target device on the vehicle to perform tactile warning when it receives the collaborative control signal;

[0010] The visual warning control unit is configured to collaboratively control an in-vehicle visual warning device and an out-of-vehicle visual warning device on the vehicle to perform visual warning when it receives the collaborative control signal;

[0011] The auditory warning control unit is configured to control an audio device on the vehicle to emit a warning audio to perform auditory warning when it receives the collaborative control signal.

[0012] In one embodiment, the target device includes at least one of a steering wheel, a seat, and a seat belt; the haptic warning control unit is configured to:

[0013] generate at least one of a first haptic warning control signal, a second haptic warning control signal, and a third haptic warning control signal when receiving the collaborative control signal;

[0014] The haptic warning control unit is further configured to at least perform one of the following:

[0015] control the steering wheel to vibrate according to the first haptic warning control signal;

[0016] control the seat to vibrate according to the second haptic warning control signal;

[0017] control the seat belt to retract according to the third haptic warning control signal.

[0018] In one embodiment, the in-vehicle visual warning device includes a cockpit atmosphere light, and the out-of-vehicle visual warning device includes a hazard warning flasher and a headlight; the visual warning control unit is configured to:

[0019] generate at least one of a first visual warning control signal, a second visual warning control signal, and a third visual warning control signal when receiving the collaborative control signal;

[0020] The visual warning control unit is further configured to at least perform one of the following:

[0021] control the cockpit atmosphere light to emit light of a preset color according to the first visual warning control signal;

[0022] control the hazard warning flasher to flash according to the second visual warning control signal;

[0023] control the headlight to intermittently flash at a first preset frequency according to the third visual warning control signal.

[0024] In one embodiment, the out-of-vehicle visual warning device further includes a rear high-brightness light strip; the visual warning control unit is further configured to:

[0025] generate a fourth visual warning control signal when receiving the collaborative control signal;

[0026] control the rear high-brightness light strip to display a preset light-emitting pattern according to the fourth visual warning control signal;

[0027] Wherein, the preset light-emitting pattern is used to indicate that the vehicle is in an emergency braking state, and the display brightness of the high-brightness light strip at the rear of the vehicle is higher than that of the vehicle's taillights.

[0028] In one embodiment, the device further includes:

[0029] A visual detection module, configured to detect target objects around the vehicle, generate object detection information, and send the object detection information to the state detection module;

[0030] The state detection module is further configured to send the object detection information to the visual warning control unit when it detects that the vehicle is in an emergency braking state;

[0031] The visual warning control unit is further configured to, when receiving the collaborative control signal, control the display screen on the vehicle to display corresponding text warning information according to the object detection information.

[0032] In one embodiment, the audio device includes an external vehicle horn and a cockpit voice unit;

[0033] The state detection module is further configured to send the object detection information to the auditory warning control unit when it detects that the vehicle is in an emergency braking state;

[0034] The auditory warning control unit is further configured to generate a horn control signal when receiving the collaborative control signal, and generate a voice control signal according to the object detection information;

[0035] Control the external vehicle horn to sound at a second preset frequency interval according to the horn control signal;

[0036] Control the cockpit voice unit to play a prompt voice corresponding to the object detection information according to the voice control signal.

[0037] In one embodiment, the state detection module is further configured to send a response abort signal to the collaborative control module when it detects that the vehicle has exited the emergency braking state, or when it detects that the duration of the vehicle being in the emergency braking state is greater than a preset duration;

[0038] The collaborative control module is further configured to, when receiving the response abort signal, control the vehicle to exit the collaborative warning state and activate the suspension control module;

[0039] The suspension control module is used to control the suspension of the vehicle to rise by a preset height when the vehicle is in a braking state and the driving speed of the vehicle is less than the first preset speed threshold, and to control the suspension of the vehicle to lower the preset height when the vehicle disengages from the braking state and the driving speed of the vehicle is greater than the second preset speed threshold;

[0040] Wherein, the second preset speed threshold is greater than the first preset speed threshold.

[0041] In a second aspect, the present application further provides a vehicle control method, which is applied to a vehicle, and the method includes:

[0042] When it is detected that the vehicle is in an emergency braking state, controlling the vehicle to be in a collaborative warning state;

[0043] When the vehicle is in the collaborative warning state, sending a collaborative control signal to a plurality of warning control units, wherein the plurality of warning control units include a tactile warning control unit, a visual warning control unit, and an auditory warning control unit;

[0044] According to the collaborative control signal, controlling a target device on the vehicle to perform tactile warning through the tactile warning control unit;

[0045] According to the collaborative control signal, collaboratively controlling an in-vehicle visual warning device and an out-of-vehicle visual warning device on the vehicle to perform visual warning through the visual warning control unit;

[0046] According to the collaborative control signal, controlling an audio device on the vehicle to emit a warning audio through the auditory warning control unit to perform auditory warning.

[0047] In a third aspect, the present application further provides a vehicle, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0048] When it is detected that the vehicle is in an emergency braking state, control the vehicle to be in a collaborative warning state; when the vehicle is in the collaborative warning state, send a collaborative control signal to a plurality of warning control units, where the plurality of warning control units include a tactile warning control unit, a visual warning control unit, and an auditory warning control unit; according to the collaborative control signal, control a target device on the vehicle to perform tactile warning through the tactile warning control unit; according to the collaborative control signal, collaboratively control an in-vehicle visual warning device and an out-of-vehicle visual warning device on the vehicle to perform visual warning through the visual warning control unit; according to the collaborative control signal, control an audio device on the vehicle to emit a warning audio through the auditory warning control unit to perform auditory warning.

[0049] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0050] When it is detected that the vehicle is in an emergency braking state, control the vehicle to be in a collaborative warning state; when the vehicle is in the collaborative warning state, send a collaborative control signal to a plurality of warning control units, where the plurality of warning control units include a tactile warning control unit, a visual warning control unit, and an auditory warning control unit; according to the collaborative control signal, control a target device on the vehicle to perform tactile warning through the tactile warning control unit; according to the collaborative control signal, collaboratively control an in-vehicle visual warning device and an out-of-vehicle visual warning device on the vehicle to perform visual warning through the visual warning control unit; according to the collaborative control signal, control an audio device on the vehicle to emit a warning audio through the auditory warning control unit to perform auditory warning.

[0051] In a fifth aspect, the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0052] When it is detected that the vehicle is in an emergency braking state, control the vehicle to be in a collaborative warning state; when the vehicle is in the collaborative warning state, send a collaborative control signal to a plurality of warning control units, where the plurality of warning control units include a tactile warning control unit, a visual warning control unit, and an auditory warning control unit; according to the collaborative control signal, control a target device on the vehicle to perform tactile warning through the tactile warning control unit; according to the collaborative control signal, collaboratively control an in-vehicle visual warning device and an out-of-vehicle visual warning device on the vehicle to perform visual warning through the visual warning control unit; according to the collaborative control signal, control an audio device on the vehicle to emit a warning audio through the auditory warning control unit to perform auditory warning.

[0053] The above vehicle control device, method, vehicle, computer-readable storage medium, and computer program product. The vehicle control device includes a state detection module, a collaborative control module, a tactile warning control unit, a visual warning control unit, and an auditory warning control unit. In this way, when the state detection module detects that the vehicle is in an emergency braking state, it will send a start signal to the collaborative control module to start the collaborative control module. After the collaborative control module is started, it can control the vehicle to be in a collaborative warning state. When the vehicle is in the collaborative warning state, it can synchronously send collaborative control signals to the tactile warning control unit, the visual warning control unit, and the auditory warning control unit. Thus, when the tactile warning control unit receives the collaborative control signal, it will control the target device on the vehicle to give a tactile warning. When the visual warning control unit receives the collaborative control signal, it will collaboratively control the in-vehicle visual warning device and the out-of-vehicle visual warning device on the vehicle to give a visual warning. When the auditory warning control unit receives the collaborative control signal, it will control the audio device on the vehicle to emit a warning audio to give an auditory warning. In this way, in the present application, emergency braking warnings are realized through three warning channels: tactile, visual, and auditory, that is, multi-channel emergency braking warnings are realized. The warning method is more diverse and the warning effectiveness is stronger. Therefore, the effect of emergency braking warnings can be improved. Description of the Drawings

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments of the present application or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0055] Figure 1 It is a structural block diagram of a vehicle control device in an embodiment of the present application;

[0056] Figure 2 It is a structural block diagram of a vehicle control device in another embodiment of the present application;

[0057] Figure 3 It is a structural block diagram of a vehicle control device in yet another embodiment of the present application;

[0058] Figure 4 It is a display effect diagram of the high-brightness tail light strip in an embodiment of the present application;

[0059] Figure 5 It is a structural block diagram of a vehicle control device in still another embodiment of the present application;

[0060] Figure 6Schematic flowchart of a vehicle control method in an embodiment of the present application;

[0061] Figure 7 Internal structure diagram of a vehicle in an embodiment of the present application. Detailed implementation manners

[0062] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0063] With the development of vehicle technologies, brake warning control devices have gradually emerged on vehicles. When a vehicle makes an emergency braking action, the vehicle can use the brake warning control device to warn the outside world.

[0064] Currently, when a vehicle makes an emergency braking action, it will usually control the taillights to turn on to warn the vehicles behind, so as to prompt the vehicles behind to keep a safe distance.

[0065] However, with the increasing intelligence of vehicles, users' driving modes for vehicles are also constantly updated. For example, in the intelligent driving mode, when an emergency braking action occurs, not only is it necessary to warn the outside world of the emergency braking to prompt other vehicles to keep a safe distance, but it is usually also necessary to warn the inside of the vehicle of the emergency braking to enhance the awareness of the objects inside the vehicle of the emergency braking action; therefore, simply turning on the taillights when an emergency braking occurs cannot play a good warning role, and the effect of the emergency braking warning is poor.

[0066] In an exemplary embodiment, as Figure 1 shown, a vehicle control device is provided. The vehicle control device is applied to a vehicle and includes a state detection module 100, a cooperative control module 200, a tactile warning control unit 301, a visual warning control unit 302, and an auditory warning control unit 303. The state detection module 100 is connected to the cooperative control module 200, and the cooperative control module 200 is respectively connected to the tactile warning control unit 301, the visual warning control unit 302, and the auditory warning control unit 303.

[0067] Among them, the state detection module 100 can obtain vehicle state data and detect whether the vehicle is in an emergency braking state according to the vehicle state data; when the vehicle is in an emergency braking state, the state detection module 100 will send a start signal to the cooperative control module.

[0068] As an example, the vehicle state data can be one or more of acceleration sensor data, anti-lock braking system data, brake pedal data, and collision warning data.

[0069] Taking the vehicle status data as the acceleration sensor data as an example, when the acceleration represented by the acceleration sensor data during vehicle deceleration is greater than the preset acceleration threshold, it is determined that the vehicle is in an emergency braking state; taking the vehicle status data as the anti-lock braking system data as an example, when the intervention signal of the ABS anti-lock braking system is detected, it is determined that the vehicle is in an emergency braking state; taking the vehicle status data as the brake pedal data as an example, when the brake pedal data represents that the depth of the brake pedal switch is greater than the preset depth threshold and the rate change value of the brake pedal switch is greater than the preset rate change value, it is determined that the vehicle is in an emergency braking state; taking the vehicle status data as the brake pedal data and the collision warning data as an example, when the vehicle is in the intelligent driving mode, if the collision warning data represents that there is a collision warning and the brake pedal data represents that braking has been executed, it is determined that the vehicle is in an emergency braking state.

[0070] The cooperative control module 200 can receive the start signal sent by the status detection module 100 and start after receiving the start signal. After the cooperative control module 200 starts, it can control the vehicle to be in the cooperative warning state; when the vehicle is in the cooperative warning state, the cooperative control module 200 will send a cooperative control signal to multiple warning control units, and the multiple cooperative warning control units include a tactile warning control unit 301, a visual warning control unit 302, and an auditory warning control unit 303.

[0071] As an example, the cooperative control module 200, the tactile warning control unit 301, the visual warning control unit 302, and the auditory warning control unit 303 can all be software modules or hardware modules embedded in the vehicle central controller.

[0072] When the tactile warning control unit 301 receives the cooperative control signal, it will control the target device on the vehicle to perform tactile warning; it should be noted that the target device can be a device that comes into contact with the user's body, such as a seat, a steering wheel, or a seat belt, etc.; in this way, when the vehicle is in the intelligent driving mode, it can quickly warn the object inside the vehicle that an emergency braking action has occurred and there is a safety risk.

[0073] When the visual warning control unit 302 receives the cooperative control signal, it can cooperatively control the in-vehicle visual warning device and the out-of-vehicle visual warning device on the vehicle to perform visual warning; in this way, the in-vehicle visual warning device can prompt the object inside the vehicle (including the object inside the vehicle) that an emergency braking action has occurred and there is a safety risk, and the out-of-vehicle visual warning device can prompt the object outside the vehicle that this vehicle has performed an emergency braking action to prevent the object outside the vehicle from being too close to this vehicle, thereby triggering a safety risk, where the object outside the vehicle can be other vehicles or pedestrians, etc.

[0074] As an example, the in-vehicle visual warning device can be one or more of the cockpit atmosphere lights and display screens, and the out-vehicle visual warning device can be one or more of the front lights, rear lights, high-brightness light strips at the rear of the vehicle, and hazard lights.

[0075] After receiving the cooperative control signal, the auditory warning control unit 303 can control the audio devices on the vehicle to emit warning audio for auditory warning; among them, the audio devices can be one or more of the in-vehicle audio devices and out-vehicle audio devices. The in-vehicle audio devices can be the cockpit language unit or in-vehicle speakers, etc., and the out-vehicle audio devices can be out-vehicle speakers, etc.; in this way, it is possible to synchronously warn the in-vehicle objects and out-vehicle objects that the vehicle has made an emergency braking action.

[0076] In this embodiment, the vehicle control device includes a state detection module 100, a cooperative control module 200, a tactile warning control unit 301, a visual warning control unit 302, and an auditory warning control unit 303. In this way, when the state detection module 100 detects that the vehicle is in an emergency braking state, it will send a start signal to the cooperative control module 200 to start the cooperative control module 200. As a result, after starting, the cooperative control module 200 can control the vehicle to be in a cooperative warning state, and when the vehicle is in the cooperative warning state, it can synchronously send a cooperative control signal to the tactile warning control unit 302, the visual warning control unit 302, and the auditory warning control unit 303. Therefore, when the tactile warning control unit 301 receives the cooperative control signal, it will control the target device on the vehicle to perform tactile warning. When the visual warning control unit 302 receives the cooperative control signal, it will cooperatively control the in-vehicle visual warning device and the out-vehicle visual warning device on the vehicle to perform visual warning. When the auditory warning control unit 303 receives the cooperative control signal, it controls the audio devices on the vehicle to emit warning audio for auditory warning; in this way, in this embodiment, emergency braking warning is realized from three warning channels of touch, vision, and hearing, that is, multi-channel emergency braking warning is realized, the warning method is more diverse, and in this embodiment, effective warning of in-vehicle objects and out-vehicle objects can be realized simultaneously, which is more compatible with the current vehicle intelligent driving mode. Therefore, the warning effectiveness is stronger, and thus the effect of emergency braking warning can be improved.

[0077] In some embodiments, referring to Figure 2 , the target device may include a steering wheel 401, a seat 402, and a seat belt 403.

[0078] It should be noted that with the continuous development of intelligent driving, intelligent driving modes have gradually emerged in vehicles. When the vehicle is in an intelligent driving mode, if an emergency braking action occurs, it is necessary not only to warn out-vehicle objects but also to warn in-vehicle objects.

[0079] In this embodiment, a tactile warning control unit 301 is provided. After receiving the cooperative control signal sent by the cooperative control module 200, the tactile warning control unit 301 will generate at least one of a first tactile warning control signal, a second tactile warning control signal, and a third tactile warning control signal. Among them, the first tactile warning control signal is used to control the steering wheel 401 to vibrate, and the second tactile warning control signal is used to control the seat 402 to vibrate. By controlling the steering wheel 401 and the seat 402 to vibrate, since the steering wheel 401 and the seat 402 will come into contact with the body of the in-vehicle object, the in-vehicle object can be reminded of the emergency braking action in a tactile manner to avoid safety risks. The third tactile warning control signal is used to control the seat belt 403 to contract, that is, to tighten the seat belt 403. In this way, not only can the in-vehicle object be reminded of the emergency braking action in a tactile manner through the seat belt 403, but also the body of the in-vehicle object can be fixed by tightening the seat belt 403 to reduce the risk of possible collision injuries.

[0080] In some embodiments, continue to refer to Figure 2 , the in-vehicle visual warning device includes a cockpit atmosphere lamp 501, and the out-vehicle visual warning device includes a hazard warning flash 502 and a headlight 503.

[0081] When the visual warning control unit 302 receives the cooperative control signal, it can generate a first visual warning control signal, a second visual warning control signal, and a third visual warning control signal. The first visual warning control signal is used to control the cockpit atmosphere lamp 501 to emit light of a preset color. The preset color can be a color sensitive to the human eye, such as yellow light or red light, etc., so as to warn the in-vehicle object that an emergency braking action has occurred. The second visual warning control signal is used to control the activation of the hazard warning flash 502 and make the hazard warning flash 502 flash to warn the out-vehicle object and prompt the out-vehicle object that the vehicle has an emergency braking action. The third visual warning control signal is used to make the headlight 503 flash intermittently at a first preset frequency to warn the out-vehicle object behind the vehicle and prompt the out-vehicle object behind the vehicle that the vehicle has an emergency braking action and to keep a safe distance. In this way, in this embodiment, an emergency braking warning is realized for both the in-vehicle object and the out-vehicle object in a visual manner.

[0082] In some embodiments, continue to refer to Figure 2, the audio device may include an external vehicle horn 601 and a cockpit voice unit 602; the auditory warning control unit 303 may control the external vehicle horn 601 to sound at a second preset frequency interval to prompt an external object that the vehicle has made an emergency braking action, and control the cockpit voice unit 602 to perform voice broadcast to prompt an internal object that an emergency braking action has occurred; in this way, in this embodiment, the emergency braking warning can be given to both external and internal objects in an auditory manner.

[0083] In some embodiments, referring to Figure 3 , the external visual warning device further includes an external high-brightness light strip; when receiving the collaborative control signal, the visual warning control unit 302 may further generate a fourth visual warning control signal, which is used to control the rear high-brightness light strip of the vehicle to display a preset light-emitting pattern, where the preset light-emitting pattern is used to prompt an external object behind the vehicle that the vehicle is in an emergency braking state, that is, in an emergency braking state, and the display brightness of the rear high-brightness light strip is higher than that of the vehicle's taillights. In this way, in this embodiment, the rear high-brightness light strip, which is more intuitive and has a stronger warning effect, is used instead of the taillights for emergency braking warning, which can improve the effect of emergency braking warning.

[0084] As an example, referring to Figure 4 , Figure 4 shows the display effect diagram of the rear high-brightness light strip in this embodiment.

[0085] In some embodiments, continuing to refer to Figure 3 , the vehicle control device may further include a visual detection module 700, and the visual detection module 700 is connected to the status detection module 100.

[0086] Among them, the visual detection module 700 can detect target objects in the surrounding area of the vehicle, thereby generating object detection information and sending the object detection information to the status detection module 100.

[0087] As an example, the visual detection model 700 can obtain a captured image of the surrounding area of the vehicle, then perform target detection on the captured image to identify the target objects in the captured image, and generate object detection information according to the target detection results corresponding to the target objects. Among them, the object detection information may be the position of the detection frame obtained by target detection, the measured distance between the target object and the vehicle, and the category discrimination result corresponding to the target object, etc.

[0088] As an example, in this embodiment, a binocular camera and a millimeter-wave radar can be provided on the vehicle. The vision detection module 700 can obtain the captured images of the binocular camera and the radar detection data of the millimeter-wave radar. Thus, the vision detection model 700 can perform object detection on the captured images to identify the target objects in the captured images and obtain the target detection results corresponding to the target objects. The target detection results include the position of the detection frame obtained by target detection and the category discrimination result corresponding to the target object, etc. The vision detection model 700 can detect the distance between the target object and the vehicle based on the radar detection data to obtain the measured interval distance. Thus, the vision detection model 700 outputs the position of the detection frame, the measured interval distance between the target object and the vehicle, and the category discrimination result corresponding to the target object together as the object detection information.

[0089] In this way, when the vehicle state detection data characterized by the state detection module 100 indicates that the vehicle is in an emergency braking state, the object detection information can be sent to the visual warning control unit 302 and the auditory warning control unit 303. In this way, after receiving the cooperation control signal and the object detection information, the visual warning control unit 302 can control the display screen 505 on the vehicle to display the text warning information corresponding to the object detection information according to the object detection information, so as to prompt the object in the vehicle whether there is a target object in the surrounding area of the vehicle, the distance of the target object from the vehicle, and the category of the target object (for example, whether it is a pedestrian or a vehicle). In this embodiment, an emergency braking warning with richer and more accurate warning content can be given visually.

[0090] After receiving the cooperation control signal and the object detection information, the auditory warning control unit 303 will generate a horn control signal and a voice control signal. Among them, the horn control signal can be used to control the external horn to sound at a second preset frequency interval, and the voice control signal can be used to control the cockpit voice unit to play the prompt voice corresponding to the object detection information. In this way, not only can the external object be prompted that the vehicle has performed an emergency braking action through the horn sound, but also an emergency braking warning with richer and more accurate warning content can be given to the object in the vehicle auditorily through the prompt voice.

[0091] As an example, both the prompt voice and the text warning information can include the position of the detection frame obtained by target detection, the interval distance between the target object and the vehicle, and the category discrimination result corresponding to the target object, etc.

[0092] In some embodiments, referring to Figure 5 , the vehicle control information may further include a suspension control module 800, and the suspension control module 800 is connected to the cooperation control module 200.

[0093] When the status detection module 100 detects that the vehicle has disengaged from the emergency braking state, or when the duration of the vehicle being in the emergency braking state is greater than a preset duration, it can confirm that the emergency braking action has ended. At this time, the status detection module 100 will send a response abort signal to the collaborative control module 200; when the collaborative control module 200 receives the response abort signal, it will control the vehicle to disengage from the collaborative warning state and activate the suspension control module 800.

[0094] It should be noted that after the vehicle disengages from the collaborative warning state, the tactile warning control unit 301, the visual warning control unit 302, and the auditory warning control unit 303 will all stop controlling the vehicle to give an emergency braking warning.

[0095] After the suspension control module 800 is activated, when the vehicle is in the braking state and the driving speed of the vehicle is less than the first preset speed threshold, it can control the suspension of the vehicle's active suspension system to rise by a preset height to reduce the risk of possible collision damage; it can also confirm that the vehicle has restarted accelerating when the vehicle disengages from the braking state and the driving speed of the vehicle is greater than the second preset speed threshold, and thus control the suspension of the vehicle's active suspension system to lower by a preset height to increase the stability of the vehicle chassis and ensure the stability of the vehicle's normal driving.

[0096] It should be noted that the second preset speed threshold is greater than the first preset speed threshold. For example, the second preset speed threshold can be set to 20 kilometers per hour, and the first preset speed threshold can be set to 10 kilometers per hour.

[0097] In some embodiments, when the vehicle is in the intelligent driving mode, the time point of the tactile warning is earlier than the time point of the visual warning, and the time point of the tactile warning is earlier than the time point of the auditory warning; in this way, when the vehicle is in the intelligent driving mode, it can first shake the seat and the steering wheel and tighten the seat belt to prompt the object inside the vehicle, and then immediately give an emergency braking warning in visual warning ways such as flashing lights and / or pushing text warning information on the display screen, and give an emergency braking warning in auditory warning ways such as horn beeping and / or voice warning; in this way, the situation where the object inside the vehicle cannot receive all types of warning information at once will not occur. In this embodiment, asynchronous multi-level collaborative emergency braking warning is realized in different warning ways with different warning response speeds (users are more sensitive to touch) and different warning information richness. In this way, the object inside the vehicle can be warned to concentrate first in a tactile way, and then more rich warning content such as visual and auditory information can be given after the user concentrates, which improves the rationality of the multi-level collaborative warning in this embodiment, and thus can improve the effect of the emergency braking warning.

[0098] Each module in the aforementioned vehicle control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of the vehicle's processor in hardware form, or may be stored in the vehicle's memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0099] In an exemplary embodiment, Figure 6 As shown, a vehicle control method is also provided, which is applied to a vehicle, and the vehicle control method includes:

[0100] Step 901: When it is detected that the vehicle is in an emergency braking state, the vehicle is controlled to be in a coordinated warning state.

[0101] Step 902: When the vehicle is in a coordinated warning state, a coordinated control signal is sent to multiple warning control units, where the multiple warning control units include a tactile warning control unit, a visual warning control unit, and an auditory warning control unit.

[0102] Step 903: According to the coordinated control signal, the tactile warning control unit controls the target device on the vehicle to give a tactile warning.

[0103] Step 904 : Based on the coordinated control signal, the visual warning control unit coordinates and controls the interior visual warning device and the exterior visual warning device of the vehicle to provide a visual warning.

[0104] Step 905: According to the coordinated control signal, the audio device on the vehicle is controlled by the auditory warning control unit to emit a warning audio to perform an auditory warning.

[0105] In some embodiments, the target device includes at least one of a steering wheel, a seat, and a seat belt; and according to the coordinated control signal, the tactile warning control unit controls the target device on the vehicle to provide a tactile warning, including:

[0106] When the cooperative control signal is received, generating at least one of a first tactile warning control signal, a second tactile warning control signal, and a third tactile warning control signal by the tactile warning control unit;

[0107] According to the first tactile warning control signal, the tactile warning control unit controls the steering wheel to vibrate; and / or according to the second tactile warning control signal, the tactile warning control unit controls the seat to vibrate; and / or according to the third tactile warning control signal, the tactile warning control unit controls the seat belt to retract.

[0108] In some embodiments, the in-vehicle visual warning device includes a cockpit atmosphere light, and the out-vehicle visual warning device includes a hazard warning flasher and a headlight; according to the collaborative control signal, the in-vehicle visual warning device and the out-vehicle visual warning device on the vehicle are collaboratively controlled by a visual warning control unit for visual warning, including:

[0109] When receiving the collaborative control signal, at least one of a first visual warning control signal, a second visual warning control signal, and a third visual warning control signal is generated by the visual warning control unit;

[0110] According to the first visual warning control signal, the cockpit atmosphere light is controlled by the visual warning control unit to emit light of a preset color; and / or according to the second visual warning control signal, the hazard warning flasher is controlled by the visual warning control unit to flash; and / or according to the third visual warning control signal, the headlight is controlled by the visual warning control unit to intermittently flash at a first preset frequency.

[0111] In some embodiments, the out-vehicle visual warning device further includes a high-brightness tail strip; according to the collaborative control signal, the out-vehicle visual warning device on the vehicle is controlled by the visual warning control unit for visual warning, including:

[0112] When receiving the collaborative control signal, a fourth visual warning control signal is generated by the visual warning control unit; according to the fourth visual warning control signal, the high-brightness tail strip is controlled by the visual warning control unit to display a preset light-emitting pattern; wherein, the preset light-emitting pattern is used to indicate that the vehicle is in an emergency braking state, and the display brightness of the high-brightness tail strip is higher than that of the vehicle's taillight.

[0113] In some embodiments, the in-vehicle visual warning device includes a display screen; the above vehicle control method further includes:

[0114] A target object around the vehicle is detected by a visual detection module to generate object detection information, and the object detection information is sent to a state detection module; when it is detected that the vehicle is in an emergency braking state, the object detection information is sent to the visual warning control unit by the state detection module;

[0115] The in-vehicle visual warning device on the vehicle is controlled by the visual warning control unit for visual warning, including:

[0116] When receiving the collaborative control signal, according to the object detection information, the display screen on the vehicle is controlled by the visual warning control unit to display corresponding text warning information.

[0117] In some embodiments, the above vehicle control method further includes:

[0118] When it is detected that the vehicle is in an emergency braking state, the object detection information is sent to the auditory warning control unit through the state detection module;

[0119] According to the collaborative control signal, the auditory warning control unit controls the audio devices on the vehicle to emit a warning audio, including:

[0120] When the collaborative control signal is received, the horn control signal is generated by the auditory warning control unit, and the voice control signal is generated according to the object detection information; according to the horn control signal, the auditory warning control unit controls the external horn of the vehicle to sound at a second preset frequency interval; according to the voice control signal, the auditory warning control unit controls the cockpit voice unit to play the prompt voice corresponding to the object detection information.

[0121] In some embodiments, the above vehicle control method further includes:

[0122] When it is detected that the vehicle has exited the emergency braking state, or the duration of the vehicle being in the emergency braking state is greater than the preset duration, the response abort signal is sent to the collaborative control module through the state detection module; when the response abort signal is received, the collaborative control module controls the vehicle to exit the collaborative warning state and activates the suspension control module; when the vehicle is in the braking state and the driving speed of the vehicle is less than the first preset speed threshold, the suspension control module controls the suspension of the vehicle to rise by a preset height, and when the vehicle exits the braking state and the driving speed of the vehicle is greater than the second preset speed threshold, the suspension control module controls the suspension of the vehicle to lower by a preset height; wherein, the second preset speed threshold is greater than the first preset speed threshold.

[0123] In some embodiments, when the vehicle is in the intelligent driving mode, the time point of the tactile warning is earlier than the time point of the visual warning, and the time point of the tactile warning is earlier than the time point of the auditory warning.

[0124] Among them, the specific implementation content of the vehicle control method in this embodiment can refer to the content of each embodiment of the above vehicle control device, and will not be elaborated here.

[0125] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least some of the steps or stages in other steps or other steps.

[0126] In an exemplary embodiment, a vehicle is provided. The vehicle may be a terminal, and its internal structure diagram may be as Figure 7 shown. The vehicle includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the vehicle is used to provide computing and control capabilities. The memory of the vehicle 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 operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the vehicle is used to exchange information between the processor and external devices. The communication interface of the vehicle is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a vehicle control method. Those skilled in the art can understand that Figure 7 the structure shown in

[0127] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the vehicle to which the solution of the present application is applied. The specific vehicle may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0128] When it is detected that the vehicle is in an emergency braking state, control the vehicle to be in a collaborative warning state; when the vehicle is in the collaborative warning state, send a collaborative control signal to a plurality of warning control units, where the plurality of warning control units include a tactile warning control unit, a visual warning control unit, and an auditory warning control unit; according to the collaborative control signal, control a target device on the vehicle to give a tactile warning through the tactile warning control unit; according to the collaborative control signal, collaboratively control an in-vehicle visual warning device and an out-vehicle visual warning device on the vehicle to give a visual warning through the visual warning control unit; according to the collaborative control signal, control an audio device on the vehicle to emit a warning audio through the auditory warning control unit to give an auditory warning.

[0129] In one embodiment, the target device includes at least one of a steering wheel, a seat, and a seat belt; when the processor executes the computer program, the following steps are further implemented:

[0130] When receiving the collaborative control signal, generate at least one of a first tactile warning control signal, a second tactile warning control signal, and a third tactile warning control signal through the tactile warning control unit; according to the first tactile warning control signal, control the steering wheel to vibrate through the tactile warning control unit; and / or according to the second tactile warning control signal, control the seat to vibrate through the tactile warning control unit; and / or according to the third tactile warning control signal, control the seat belt to contract through the tactile warning control unit.

[0131] In one embodiment, the in-vehicle visual warning device includes a cockpit atmosphere light, and the out-vehicle visual warning device includes a hazard warning flash and a headlight; when the processor executes the computer program, the following steps are further implemented:

[0132] When receiving the collaborative control signal, generate at least one of a first visual warning control signal, a second visual warning control signal, and a third visual warning control signal through the visual warning control unit;

[0133] According to the first visual warning control signal, control the cockpit atmosphere light to emit light of a preset color through the visual warning control unit; and / or according to the second visual warning control signal, control the hazard warning flash to flash through the visual warning control unit; and / or according to the third visual warning control signal, control the headlight to intermittently flash at a first preset frequency through the visual warning control unit.

[0134] In one embodiment, the out-vehicle visual warning device further includes a rear high-brightness light strip; when the processor executes the computer program, the following steps are further implemented:

[0135] Upon receiving the cooperative control signal, a fourth visual warning control signal is generated by the visual warning control unit; according to the fourth visual warning control signal, the visual warning control unit controls the high-brightness taillight strip at the rear of the vehicle to display a preset light-emitting pattern; wherein, the preset light-emitting pattern is used to indicate that the vehicle is in an emergency braking state, and the display brightness of the high-brightness taillight strip at the rear of the vehicle is higher than that of the vehicle's taillights.

[0136] In one embodiment, the in-vehicle visual warning device includes a display screen; when the processor executes the computer program, the following steps are further implemented:

[0137] The visual detection module detects target objects around the vehicle, generates object detection information, and sends the object detection information to the status detection module; when it is detected that the vehicle is in an emergency braking state, the status detection module sends the object detection information to the visual warning control unit; the visual warning control unit controls the in-vehicle visual warning device on the vehicle to perform visual warning, including: upon receiving the cooperative control signal, according to the object detection information, the visual warning control unit controls the display screen on the vehicle to display corresponding text warning information.

[0138] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0139] When it is detected that the vehicle is in an emergency braking state, the status detection module sends the object detection information to the auditory warning control unit; upon receiving the cooperative control signal, the auditory warning control unit generates a horn control signal and, according to the object detection information, generates a voice control signal; according to the horn control signal, the auditory warning control unit controls the external horn of the vehicle to sound at a second preset frequency interval; according to the voice control signal, the auditory warning control unit controls the cockpit voice unit to play a prompt voice corresponding to the object detection information.

[0140] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0141] When it is detected that the vehicle has exited the emergency braking state, or when it is detected that the duration of the vehicle being in the emergency braking state is greater than a preset duration, the status detection module sends a response abort signal to the cooperative control module; upon receiving the response abort signal, the cooperative control module controls the vehicle to exit the cooperative warning state and activates the suspension control module; when the vehicle is in a braking state and the driving speed of the vehicle is less than a first preset speed threshold, the suspension control module controls the suspension of the vehicle to rise by a preset height, and when the vehicle has exited the braking state and the driving speed of the vehicle is greater than a second preset speed threshold, the suspension control module controls the suspension of the vehicle to lower by a preset height; wherein, the second preset speed threshold is greater than the first preset speed threshold.

[0142] In one embodiment, when the vehicle is in the intelligent driving mode, the time point of the tactile warning is earlier than the time point of the visual warning, and the time point of the tactile warning is earlier than the time point of the auditory warning.

[0143] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0144] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0145] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0146] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in the present application.

[0147] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A vehicle control device, characterized in that, Applied to a vehicle, the device includes: A status detection module, configured to send a start signal to a collaborative control module when it detects that the vehicle is in an emergency braking state; A collaborative control module, configured to control the vehicle to be in a collaborative warning state after receiving the start signal, and send a collaborative control signal to a plurality of warning control units when the vehicle is in the collaborative warning state, where the plurality of warning control units include a tactile warning control unit, a visual warning control unit, and an auditory warning control unit; The tactile warning control unit is configured to control a target device on the vehicle to perform tactile warning when receiving the collaborative control signal; The visual warning control unit is configured to collaboratively control an in-vehicle visual warning device and an out-vehicle visual warning device on the vehicle to perform visual warning when receiving the collaborative control signal; The auditory warning control unit is configured to control an audio device on the vehicle to emit a warning audio to perform auditory warning when receiving the collaborative control signal.

2. The device according to claim 1, wherein The target device includes at least one of a steering wheel, a seat, and a seat belt; the tactile warning control unit is configured to: Generate at least one of a first tactile warning control signal, a second tactile warning control signal, and a third tactile warning control signal when receiving the collaborative control signal; The tactile warning control unit is further configured to at least one of the following: Control the steering wheel to vibrate according to the first tactile warning control signal; Control the seat to vibrate according to the second tactile warning control signal; Control the seat belt to retract according to the third tactile warning control signal.

3. The device according to claim 1, characterized in that The in-vehicle visual warning device includes a cockpit atmosphere light, and the out-vehicle visual warning device includes a hazard warning flash and a headlight; the visual warning control unit is further configured to: Generate at least one of a first visual warning control signal, a second visual warning control signal, and a third visual warning control signal when receiving the collaborative control signal; The visual warning control unit is further configured to at least one of the following: Control the cockpit atmosphere light to emit light of a preset color according to the first visual warning control signal; Control the hazard warning flash to flash according to the second visual warning control signal; Control the headlight to intermittently flash at a first preset frequency according to the third visual warning control signal.

4. The device according to claim 3, characterized in that, The out-vehicle visual warning device further includes a rear high-brightness light strip; the visual warning control unit is further configured to: Generate a fourth visual warning control signal when receiving the collaborative control signal; Control the rear high-brightness light strip to display a preset light-emitting pattern according to the fourth visual warning control signal; Wherein, the preset light-emitting pattern is used to indicate that the vehicle is in an emergency braking state, and the display brightness of the rear high-brightness light strip is higher than that of the vehicle's taillight.

5. The device according to claim 1, characterized in that, The device further includes: A visual detection module, configured to detect a target object around the vehicle, generate object detection information, and send the object detection information to the status detection module; The state detection module is further configured to send the object detection information to the visual warning control unit when it detects that the vehicle is in an emergency braking state; The visual warning control unit is further configured to, when receiving the cooperative control signal, control a display screen on the vehicle to display corresponding text warning information according to the object detection information.

6. The device according to claim 5, characterized in that The audio device includes an external vehicle horn and a cockpit voice unit; The state detection module is further configured to send the object detection information to the auditory warning control unit when it detects that the vehicle is in an emergency braking state; The auditory warning control unit is further configured to generate a horn control signal when receiving the cooperative control signal, and generate a voice control signal according to the object detection information; Control the external vehicle horn to sound at a second preset frequency interval according to the horn control signal; Control the cockpit voice unit to play a prompt voice corresponding to the object detection information according to the voice control signal.

7. The device according to any one of claims 1-6, characterized in that, The state detection module is further configured to send a response abort signal to the cooperative control module when it detects that the vehicle has exited the emergency braking state, or when it detects that the duration of the vehicle being in the emergency braking state is greater than a preset duration; The cooperative control module is further configured to, when receiving the response abort signal, control the vehicle to exit the cooperative warning state and activate the suspension control module; The suspension control module is configured to control the suspension of the vehicle to rise by a preset height when the vehicle is in a braking state and the driving speed of the vehicle is less than a first preset speed threshold, and control the suspension of the vehicle to lower the preset height when the vehicle exits the braking state and the driving speed of the vehicle is greater than a second preset speed threshold; Wherein, the second preset speed threshold is greater than the first preset speed threshold.

8. A vehicle control method, characterized in that, Applied to a vehicle, the method includes: When it is detected that the vehicle is in an emergency braking state, control the vehicle to be in a cooperative warning state; When the vehicle is in the cooperative warning state, send a cooperative control signal to a plurality of warning control units, wherein the plurality of warning control units include a tactile warning control unit, a visual warning control unit, and an auditory warning control unit; According to the cooperative control signal, control a target device on the vehicle to perform tactile warning through the tactile warning control unit; According to the cooperative control signal, cooperatively control an in-vehicle visual warning device and an out-of-vehicle visual warning device on the vehicle to perform visual warning through the visual warning control unit; According to the cooperative control signal, control an audio device on the vehicle to emit a warning audio through the auditory warning control unit to perform auditory warning.

9. A vehicle, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to claim 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the method according to claim 8 are implemented.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, the steps of the method according to claim 8 are implemented.

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