Vehicle control method and system, vehicle and equipment

Abstract

The invention discloses a vehicle control method and system, a vehicle and equipment. The vehicle control method comprises the steps that under the condition that a vehicle door is opened, user behaviors and / or environment information are / is obtained; judging whether the user forgets to close the door or not according to the user behavior, and / or judging whether the collision risk of a moving target and the vehicle reaches a preset level or not according to the environment information; when it is determined that the user forgets to close the door and / or the collision risk of the moving target and the vehicle reaches the preset grade, the vehicle is controlled to close the door, according to the embodiment of the invention, when it is determined that the user forgets to close the door, the door is automatically closed, and therefore property loss caused by the fact that the user forgets to close the door is effectively avoided, and user experience is improved. When it is determined that the moving target is about to pass through the side of the vehicle and the collision risk is high, the vehicle door is automatically closed, and therefore the moving target can be effectively prevented from colliding with the vehicle door, and the driving safety and reliability are guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, system, vehicle, and equipment. Background Art

[0002] In related technologies, vehicles often rely on users to manually close doors and trunks. Even electric doors and tailgates require users to trigger a button to close them. When users are distracted by other things while getting something from the vehicle or getting out of the vehicle, there is a risk of forgetting to close the door, which can easily lead to property loss if the user walks away. In addition, when a vehicle is parked on the side of the road, if the doors and trunk are left open for a long time, passers-by, such as fast-moving cyclists, may approach the vehicle and cause scratches on the open doors, causing injuries to people and vehicles, posing a high safety hazard. Summary of the Invention

[0003] Based on this, it is necessary to provide a vehicle control method, system, vehicle and equipment to address the above technical problems. When it is determined that the user has forgotten to close the car door, the car door is automatically closed, thereby effectively avoiding property loss caused by the user forgetting to close the car door. When it is determined that a moving target is about to pass from the side of the vehicle, the car door is automatically closed when the collision risk is high, thereby effectively avoiding a collision between the moving target and the car door, thereby ensuring the safety and reliability of driving.

[0004] In a first aspect, a vehicle control method is provided, comprising:

[0005] Obtaining user behavior and / or environmental information when the vehicle door is open;

[0006] determining whether the user forgets to close the door based on the user behavior, and / or determining whether the collision risk between the moving object and the vehicle reaches a predetermined level based on the environmental information;

[0007] When it is determined that the user forgets to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level, the vehicle door is controlled to close.

[0008] In some examples, the user behavior includes the distance and time the user left the vehicle, and determining whether the user forgot to close the door based on the user behavior includes:

[0009] If the distance the user leaves the car is greater than a predetermined distance, or if the distance the user leaves the car is not greater than the predetermined distance but the time the user leaves the car reaches a predetermined time, it is determined that the user forgets to close the door.

[0010] In some examples, the environmental information includes an environmental image and / or environmental point cloud data, and determining whether the collision risk between the moving object and the vehicle reaches a predetermined level based on the environmental information includes:

[0011] Obtaining, based on the environmental image and / or environmental point cloud data, a distance between the moving target and the vehicle and a speed at which the moving target approaches the vehicle;

[0012] Obtaining a collision time based on the distance between the moving target and the vehicle and the speed at which the moving target approaches the vehicle;

[0013] It is determined whether the collision risk between the moving object and the vehicle reaches a predetermined level according to the collision time.

[0014] In some examples, the method further includes: when it is determined that the collision risk between the moving target and the vehicle has not reached the predetermined level, controlling the vehicle to provide a risk warning to the moving target.

[0015] In some examples, before obtaining the distance between the moving target and the vehicle and the speed at which the moving target approaches the vehicle based on the environment image and / or the environment point cloud data, the method further includes:

[0016] Determining a moving object based on the environmental image and / or environmental point cloud data;

[0017] Identifying the category of the moving object;

[0018] If the moving object is a target, the moving object is regarded as the moving target; otherwise, the moving object is ignored.

[0019] In some examples, when it is determined that the user forgets to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level, the process of controlling the vehicle door to close further includes:

[0020] Determine whether there is an obstacle during the vehicle door closing process;

[0021] If yes, the vehicle is controlled to stop closing the door and perform reverse rebound of the door closing.

[0022] In some examples, this also includes:

[0023] Determine whether there is anyone in the car and whether the person in the car is not wearing a seat belt;

[0024] If so, the control method for the vehicle is disabled.

[0025] In a second aspect, a vehicle control system is provided, comprising:

[0026] An acquisition module, used to acquire user behavior and / or environmental information when the vehicle door is open;

[0027] a judgment module, configured to judge whether the user has forgotten to close the door based on the user behavior, and / or to judge whether the collision risk between the moving object and the vehicle has reached a predetermined level based on the environmental information;

[0028] The control module is used to control the vehicle door to close when it is determined that the user forgets to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level.

[0029] In a third aspect, a vehicle is provided, comprising: a vehicle control system according to the second aspect described above.

[0030] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle control method according to the first aspect is implemented.

[0031] By adopting the embodiments of the present application, it is possible to determine whether the user forgets to close the door after getting off the vehicle based on user behavior, environmental information, etc. When it is determined that the user forgets to close the door, the door is automatically closed, thereby effectively avoiding property loss caused by the user forgetting to close the door. In addition, when it is determined that a moving target is about to pass by the side of the vehicle, the risk of scratching the door is determined. When the risk is high, the door is automatically closed, thereby effectively avoiding collision between the moving target and the door, thereby ensuring the safety and reliability of driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0033] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0034] Figure 2 A structural block diagram of a vehicle control system provided in an embodiment of the present application;

[0035] Figure 3 This is a structural block diagram of the computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The present application will be further described in detail below with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are intended only to illustrate the relevant application and are not intended to limit the application. It should also be noted that, for ease of description, only the portions relevant to the application are shown in the accompanying drawings.

[0037] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] The following describes in detail the vehicle control method, system, vehicle and device according to the embodiments of the present application in conjunction with the accompanying drawings.

[0039] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present application. Figure 1 As shown, a vehicle control method according to an embodiment of the present application includes the following steps:

[0040] S101: When the vehicle door is open, obtain user behavior and / or environmental information.

[0041] The door may be a vehicle door or a tailgate or trunk door of a vehicle.

[0042] Taking the car door as an example, the door state can be detected by the door state sensor, that is, whether the door is open or closed. The door state sensor is implemented by a Hall sensor, for example. Similarly, if it is the tailgate, the trunk door state can also be detected in the same way.

[0043] In one embodiment of the present application, user behavior includes, but is not limited to, the distance and time the user left the vehicle. The time the user left the vehicle can be detected by sensors pre-installed in the vehicle. For example, an infrared sensor or a pressure sensor can be pre-installed in the vehicle. The infrared sensor can detect whether there is a user in the vehicle, and the pressure sensor can detect whether there is pressure on the seat, thereby determining whether there is a user in the vehicle. When it is detected that there is no user in the vehicle, that is, when the user has exited the vehicle, a timer is started, and the timer result can be used as the time the user left the vehicle.

[0044] The user's distance from the vehicle can be detected by the vehicle's smart key. Taking the Bluetooth key as an example, the car is pre-installed with a Bluetooth positioning module. The distance between the Bluetooth key and the vehicle is determined by the received signal from the Bluetooth key, and the distance is used as the user's distance from the vehicle. In this example, the distance between the Bluetooth key and the vehicle is determined by the received signal from the Bluetooth key. For example, the field strength value of the Bluetooth key signal received by multiple anchor points (Bluetooth anchor points) on the vehicle can be used. Then, the distance between the Bluetooth key and the vehicle can be calculated based on the field strength value of the Bluetooth key signal received by multiple anchor points.

[0045] In one embodiment of the present application, environmental information includes but is not limited to environmental images and / or environmental point cloud data. For example, point cloud data of the environment around the vehicle can be obtained by scanning the vehicle body radar, and environmental images of the environment around the vehicle can be collected by a camera.

[0046] S102: Determine whether the user forgets to close the door based on the user behavior, and / or determine whether the collision risk between the moving object and the vehicle reaches a predetermined level based on the environmental information.

[0047] In a specific example, determining whether the user forgets to close the door is based on the user's behavior, including: if the user's distance from the car is greater than a predetermined distance, or the user's distance from the car is not greater than the predetermined distance, but the user's time away from the car reaches a predetermined time, then determining that the user forgot to close the door.

[0048] For example, if the scheduled time is set to 2 minutes and the scheduled distance is set to 5 meters, then after a vehicle opens its door and no one is inside, if the user gets out of the vehicle (i.e., the time it takes to leave the vehicle) for 2 minutes, even if the user is next to the vehicle, such as within 5 meters, the user will be considered to have forgotten to close the door. In addition, if the user gets out of the vehicle (i.e., the time it takes to leave the vehicle) is less than 2 minutes, but the distance from the vehicle is more than 5 meters, the user will also be considered to have forgotten to close the door.

[0049] It is understandable that the predetermined time of 2 minutes and the predetermined distance of 5 meters are merely exemplary, and in other examples, appropriate adjustments may be made according to actual conditions.

[0050] In one embodiment of the present application, determining whether the collision risk between the moving target and the vehicle reaches a predetermined level based on the environmental information includes: obtaining the distance between the moving target and the vehicle and the speed at which the moving target approaches the vehicle based on the environmental image and / or environmental point cloud data; obtaining the collision time based on the distance between the moving target and the vehicle and the speed at which the moving target approaches the vehicle; and determining whether the collision risk between the moving target and the vehicle reaches a predetermined level based on the collision time. In this example, the distance between the moving target and the vehicle and the speed at which the moving target approaches the vehicle are obtained based on the environmental image and / or environmental point cloud data. Specifically, the speed and distance of the approaching object (i.e., the moving target) can be dynamically calculated by using an algorithm that integrates millimeter-wave radar and vision.

[0051] For example, the collision risk level is divided into five levels, such as low risk level, which is the level with the lowest collision risk; lower risk level, which is the level with relatively low collision risk; medium risk level, which is the level with average collision risk; higher risk level, which is the level with relatively high collision risk; and high risk level, which is the level with the highest collision risk. These five levels can be determined by collision time. For example, the collision time is set to five values from large to small, such as A, B, C, D, and E. If the calculated collision time between the moving target and the vehicle is less than C but greater than D, the collision risk is considered to have reached a medium risk level. Similarly, if the calculated collision time between the moving target and the vehicle is less than D but greater than E, the collision risk is considered to have reached a high risk level.

[0052] Taking the medium risk level as an example, if the calculated collision time between the moving target and the vehicle is greater than C but less than B, it is considered that the predetermined level has not been reached. In this case, embodiments of the present application can provide a risk warning to the moving target, informing the moving target that it needs to take evasive action to avoid a collision with the vehicle. For example, if it is determined that the collision risk between the moving target and the vehicle has not reached the predetermined level, the vehicle can be controlled to provide a risk warning to the moving target.

[0053] Risk warnings can be automatically activated by turning on the vehicle's hazard lights to alert moving targets, thereby effectively avoiding collisions between moving targets and vehicles and effectively improving the safety of both vehicles and moving targets.

[0054] In a specific application of the present application, the moving target generally refers to a rider, such as a rider riding a bicycle, an electric two-wheeled vehicle, or a motorcycle. Generally speaking, after a vehicle stops, when a rider passes by the vehicle, if the door is open and the rider does not notice, it is easy to bump into the door. Based on this scenario, first identify whether the moving object is a rider. Specifically, before obtaining the distance between the moving target and the vehicle and the speed at which the moving target approaches the vehicle based on the environmental image and / or environmental point cloud data, the method also includes: determining the moving object based on the environmental image and / or environmental point cloud data; identifying the category of the moving object; if the moving object is a target category, treating the moving object as the moving target; otherwise, ignoring the moving object.

[0055] For example, by obtaining an environmental image, image recognition technology can be used to identify the type of moving object in the environmental image. If the identified type is a cyclist, the moving object is considered a moving target. For another example, if a pedestrian is identified, generally speaking, pedestrians are slower and have enough time to bypass the car door when they see it open, making the possibility of a collision with the car door smaller. Therefore, in the embodiments of the present application, the target can be ignored.

[0056] S103: When it is determined that the user forgets to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level, control the vehicle to close the door.

[0057] In a specific example, the doors and tailgate of the vehicle can be controlled to close through a pre-configured motor drive module. For example: when it is determined through the time and distance of the user leaving the vehicle that the user forgets to close the door after getting off the vehicle, the door can be automatically controlled to close, thereby avoiding property losses caused by the user forgetting to close the door. For example, if a moving target is detected to be passing from the side of the vehicle and the door is open, at this time, if the calculated collision time between the moving target and the vehicle is less than C and greater than D, that is, it is considered that the collision risk has reached a medium risk level, then the door is controlled to close immediately, thereby avoiding the collision between the moving target and the door when passing from the side of the vehicle, thereby improving the safety and reliability of driving. Before the door is closed, a progressive warning of sound and light signals can also be performed, such as a warning of a buzzing frequency from low to high, so that a door closing reminder is realized.

[0058] For example: C is set to 3 seconds, that is, if the calculated collision time between the moving target and the vehicle is less than 3 seconds, the door will be immediately controlled to close. When it is greater than 3 seconds, a prompt can be given, such as turning on the vehicle's hazard lights to remind you.

[0059] According to the vehicle control method of the embodiment of the present application, when the vehicle door is open, it can be determined based on user behavior, environmental information, etc. whether the user forgets to close the door after getting off the vehicle. When it is determined that the user forgets to close the door, the door is automatically closed, thereby effectively avoiding property loss caused by the user forgetting to close the door. In addition, when it is determined that a moving target is about to pass by the side of the vehicle, the risk of scratching the door is determined. When the risk is high, the door is automatically closed, thereby effectively avoiding collision between the moving target and the door, thereby ensuring the safety and reliability of driving.

[0060] In one embodiment of the present application, when it is determined that the user has forgotten to close the door and / or the risk of collision between the moving object and the vehicle reaches a predetermined level, the process of controlling the vehicle door to close further includes: determining whether there is an obstacle during the vehicle door closing process; if so, controlling the vehicle to stop the door closing and perform a reverse rebound. For example, if an obstacle (such as a hand) is detected during the door closing process, the vehicle door will immediately stop and rebound. This can effectively prevent hands from being pinched during the closing process, ensuring user safety.

[0061] In one embodiment of the present application, the vehicle control method further includes determining whether there is a person in the vehicle and the person is not wearing a seat belt; if so, disabling the vehicle control method. For example, when a user is in the driver's seat and is not wearing a seat belt, the vehicle enters sleep mode to avoid false triggering, effectively improving vehicle reliability.

[0062] Figure 2 FIG is a structural block diagram of a vehicle control system according to an embodiment of the present application. Figure 2 As shown, a vehicle control system according to an embodiment of the present application includes: an acquisition module 210, a judgment module 220 and a control module 230, wherein:

[0063] An acquisition module 210 is used to acquire user behavior and / or environmental information when the vehicle door is open;

[0064] a judgment module 220 for judging whether the user has forgotten to close the door based on the user behavior, and / or judging whether the collision risk between the moving object and the vehicle has reached a predetermined level based on the environmental information;

[0065] The control module 230 is configured to control the vehicle door to close when it is determined that the user has forgotten to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level.

[0066] According to the control system of the vehicle in the embodiment of the present application, when the vehicle door is open, it can be determined based on user behavior, environmental information, etc. whether the user forgets to close the door after getting off the vehicle. When it is determined that the user forgets to close the door, the door is automatically closed, thereby effectively avoiding property loss caused by the user forgetting to close the door. In addition, when it is determined that a moving target is about to pass by the side of the vehicle, the risk of scratching the door is determined. When the risk is high, the door is automatically closed, thereby effectively avoiding collision between the moving target and the door, thereby ensuring the safety and reliability of driving.

[0067] The specific definition of the vehicle control system can be found in the definition of the vehicle control method above and will not be repeated here. The various modules of the above-mentioned vehicle control system can be implemented in whole or in part through software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor of the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of the above modules.

[0068] Furthermore, an embodiment of the present application provides a vehicle comprising: a vehicle control system according to any of the above-described embodiments. When the vehicle door is open, the vehicle can determine, based on user behavior, environmental information, and the like, whether the user forgot to close the door after exiting the vehicle. If it is determined that the user forgot to close the door, the vehicle door is automatically closed, thereby effectively preventing property damage caused by the user forgetting to close the door. Furthermore, when it is determined that a moving object is about to pass by the side of the vehicle, the risk of colliding with the vehicle door is determined. If the risk is high, the vehicle door is automatically closed, thereby effectively preventing collisions between the moving object and the vehicle door, thereby ensuring driving safety and reliability.

[0069] In addition, other structures and functions of the vehicle according to the embodiment of the present application are known to ordinary technicians in this field and will not be described in detail here.

[0070] Reference below Figure 3 , Figure 3 A schematic diagram of the structure of a computer device suitable for implementing the embodiments of the present application is shown.

[0071] like Figure 3 As shown, computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage unit 1008 into a random access memory (RAM) 1003. Various programs and data required for the operation instructions of the system are also stored in RAM 1003. CPU 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to bus 1004.

[0072] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 1008 including a hard disk; and a communication section 1009 including a network interface card such as a LAN card or a modem. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 1010 as needed, so that computer programs read therefrom can be installed into the storage section 1008 as needed.

[0073] In particular, according to the embodiment of the present application, the above reference flow chart Figure 1 The described process can be implemented as a computer-readable storage medium. For example, an embodiment of the present application includes a computer-readable storage medium including a computer program, the computer program including program code for executing the method shown in the flowchart, such as executing: when a vehicle door is opened, obtaining user behavior and / or environmental information;

[0074] determining whether the user forgets to close the door based on the user behavior, and / or determining whether the collision risk between the moving object and the vehicle reaches a predetermined level based on the environmental information;

[0075] When it is determined that the user forgets to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level, the vehicle door is controlled to close.

[0076] In particular, according to the embodiment of the present application, the above reference flow chart Figure 1 The described process can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart, such as executing: when a vehicle door is opened, obtaining user behavior and / or environmental information;

[0077] determining whether the user forgets to close the door based on the user behavior, and / or determining whether the collision risk between the moving object and the vehicle reaches a predetermined level based on the environmental information;

[0078] When it is determined that the user forgets to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level, the vehicle door is controlled to close.

[0079] In such an embodiment, the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1009 and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the above-mentioned functions defined in the system of the present application are performed.

[0080] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical cable, RF, or any suitable combination thereof.

[0081] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operating instructions of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the aforementioned module, program segment or a part of code includes one or more executable instructions for realizing the prescribed logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than those marked in the figure. For example, the boxes represented by two connections can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the prescribed function or operating instruction, or can be implemented with a combination of dedicated hardware and computer instructions.

[0082] The units or modules involved in the embodiments described in this application may be implemented in software or hardware. The units or modules described may also be provided in a processor. The names of these units or modules do not, in certain circumstances, constitute limitations on the units or modules themselves.

[0083] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, 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, they should be considered to be within the scope of this specification.

[0084] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: Obtaining user behavior and / or environmental information when the vehicle door is open; determining whether the user forgets to close the door based on the user behavior, and / or determining whether the collision risk between the moving object and the vehicle reaches a predetermined level based on the environmental information; When it is determined that the user forgets to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level, the vehicle door is controlled to close.

2. The vehicle control method according to claim 1, characterized in that: The user behavior includes the distance and time the user left the vehicle. The determining whether the user forgot to close the door based on the user behavior includes: If the distance the user leaves the car is greater than a predetermined distance, or if the distance the user leaves the car is not greater than the predetermined distance but the time the user leaves the car reaches a predetermined time, it is determined that the user forgets to close the door.

3. The vehicle control method according to claim 1, characterized in that: The environmental information includes an environmental image and / or environmental point cloud data, and determining whether the collision risk between the mobile target and the vehicle reaches a predetermined level based on the environmental information includes: Obtaining, based on the environmental image and / or environmental point cloud data, a distance between the moving target and the vehicle and a speed at which the moving target approaches the vehicle; Obtaining a collision time based on the distance between the moving target and the vehicle and the speed at which the moving target approaches the vehicle; It is determined whether the collision risk between the moving object and the vehicle reaches a predetermined level according to the collision time.

4. The vehicle control method according to claim 3, characterized in that: Also includes: When it is determined that the collision risk between the moving object and the vehicle does not reach the predetermined level, the vehicle is controlled to provide a risk prompt to the moving object.

5. The vehicle control method according to claim 3 or 4, characterized in that: Before obtaining the distance between the moving target and the vehicle and the speed at which the moving target approaches the vehicle based on the environment image and / or the environment point cloud data, the method further includes: Determining a moving object based on the environmental image and / or environmental point cloud data; Identifying the category of the moving object; If the moving object is a target, the moving object is regarded as the moving target; otherwise, the moving object is ignored.

6. The vehicle control method according to claim 1, characterized in that: When it is determined that the user forgets to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level, the process of controlling the vehicle door to close further includes: Determine whether there is an obstacle during the vehicle door closing process; If yes, the vehicle is controlled to stop closing the door and perform reverse rebound of the door closing.

7. The vehicle control method according to claim 1, characterized in that: Also includes: Determine whether there is anyone in the car and whether the person in the car is not wearing a seat belt; If so, the control method for the vehicle is disabled.

8. A vehicle control system, characterized in that: include: An acquisition module, used to acquire user behavior and / or environmental information when the vehicle door is open; a judgment module, configured to judge whether the user has forgotten to close the door based on the user behavior, and / or to judge whether the collision risk between the moving object and the vehicle has reached a predetermined level based on the environmental information; The control module is used to control the vehicle door to close when it is determined that the user forgets to close the door and / or the collision risk between the moving object and the vehicle reaches a predetermined level.

9. A vehicle, characterized in that: include: The vehicle control system according to claim 8.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the vehicle control method according to any one of claims 1 to 7 is implemented.

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