Vehicle safety control method and system

Abstract

The invention discloses a vehicle safety control method, a vehicle safety control system, a vehicle and a medium, and relates to the technical field of vehicles. The vehicle safety control method comprises the steps that environment parameters of a vehicle are obtained, the environment parameters are used for recognizing at least one dangerous event, and the environment parameters comprise at least one of smoke concentration, temperature, heat radiation, pressure, sound, vibration frequency, humidity and water level; when dangerous events occur, the vehicle is controlled to avoid risks according to the environment parameters corresponding to the dangerous events and / or the detailed information of the dangerous events, and the dangerous events include fire, volcanic eruption, debris flow, landslide, hail and waterlogging. The method can identify dangerous events such as natural disasters, rapidly control the vehicle to avoid risks, and reduce personal or property damage.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a vehicle safety control method and system. Background Art

[0002] Currently, vehicle safety control methods primarily target scenarios involving vandalism, focusing on reducing energy consumption and improving the accuracy of identifying dangerous phenomena. However, everyday dangers beyond vandalism exist, such as the spontaneous combustion of other vehicles in underground garages. Unpreventable situations can cause significant loss of life and property. Therefore, identifying these dangerous events and swiftly mitigating them is a critical issue requiring research. Summary of the Invention

[0003] One purpose of this application is to provide a new technical solution for a vehicle safety control method and system.

[0004] According to a first aspect of the present application, a vehicle safety control method is provided, comprising obtaining environmental parameters of an environment in which a vehicle is located, the environmental parameters being used to identify at least one dangerous event, the environmental parameters comprising at least one of smoke concentration, temperature, thermal radiation, pressure, sound, vibration frequency, humidity, and water level;

[0005] When the dangerous event occurs, the vehicle is controlled to avoid danger according to the environmental parameters corresponding to the dangerous event and / or the detailed information of the dangerous event; the dangerous event includes: at least one of: fire, volcanic eruption, mud and rock flow, landslide, hail, and waterlogging.

[0006] Optionally, when the environmental parameter is greater than a first threshold, detailed information of the dangerous event is obtained.

[0007] Optionally, the detailed information of the dangerous event includes: the type of the dangerous event, the distance of the dangerous event from the vehicle, the hazard level of the dangerous event, and image information of the dangerous event.

[0008] Optionally, when the environmental parameters identify the occurrence of the dangerous event, the environmental parameters are uploaded to a remote device, and the remote device is used to prompt the occurrence of the dangerous event, and / or control the acquisition of detailed information of the dangerous event, and / or control the vehicle to avoid danger.

[0009] Optionally, when the environmental parameter is greater than the first threshold, detailed information of the dangerous event is obtained and uploaded to a remote device, which is used to prompt the occurrence of the dangerous event and / or control the vehicle to avoid danger.

[0010] Optionally, when the environmental parameter is greater than the first threshold, detailed information of the dangerous event is obtained, and the detailed information of the dangerous event does not identify the occurrence of the dangerous event,

[0011] The environmental parameter is continuously acquired, and if the environmental parameter is continuously greater than the first threshold within a first period of time, the vehicle is controlled to avoid danger.

[0012] Optionally, when the environmental parameter continues to be greater than the first threshold within the first time, the environmental parameter and / or detailed information of the dangerous event are uploaded to a remote device, and the remote device is used to prompt the occurrence of the dangerous event and / or control the vehicle to avoid danger.

[0013] Optionally, the method includes: acquiring a plurality of environmental parameters at different positions of the vehicle;

[0014] The multiple environmental parameters include: a first parameter and a second parameter. A risk avoidance path is planned according to the first parameter and the second parameter, and the vehicle is controlled to avoid risks according to the risk avoidance path.

[0015] Optionally, controlling the vehicle to avoid danger includes:

[0016] Control the vehicle to travel to a danger avoidance destination, or plan a danger avoidance path according to a plurality of the environmental parameters, and control the vehicle to avoid danger according to the danger avoidance path.

[0017] Optionally, planning a risk avoidance route according to the environmental parameters corresponding to the dangerous event specifically includes:

[0018] When the sum of the environmental parameters is less than a second threshold, the vehicle is controlled to avoid danger.

[0019] Optionally, when the sum of the environmental parameters is greater than or equal to a second threshold, an alarm mode is activated.

[0020] Optionally, when the risk avoidance destination can accommodate the vehicle, controlling the vehicle to avoid the risk;

[0021] When the shelter destination cannot accommodate the vehicle, an alarm mode is activated.

[0022] Optionally, a control instruction sent by the remote device within a second time is received, and risk avoidance is performed according to the control instruction.

[0023] Optionally, an improved risk avoidance path planning algorithm is used to plan a risk avoidance path;

[0024] The improved risk avoidance path planning algorithm includes the environmental parameters.

[0025] Optionally, the alarm mode includes: an alarm of the vehicle, an alarm of the remote device, and an alarm of the environment in which the vehicle is located.

[0026] Optionally, different hazard levels of the dangerous event are determined according to different ranges in which the environmental parameter exceeds the first threshold, and the different hazard levels match different alarm modes.

[0027] Optionally, when the vehicle reaches the danger avoidance destination, or when the vehicle moves away from the dangerous event and reaches a safe area, or when the dangerous event has been eliminated, a danger avoidance completion instruction is sent to the remote device.

[0028] According to a second aspect of the present application, a vehicle safety control system is provided, comprising:

[0029] Perception equipment, used to obtain the vehicle's environmental parameters, and

[0030] The risk avoidance action control unit is used to control the vehicle to avoid the risk according to the environmental parameters and / or detailed information of the risk event after the risk event occurs.

[0031] Optionally, the sensing device includes at least one of an infrared sensor, a smoke sensor, a temperature sensor, a pressure sensor, a vibration sensor, a radar group, a sound sensor, a liquid level sensor, and a camera.

[0032] Optionally, a monitoring device is further included, and the monitoring device is used to obtain detailed information of the dangerous event when the environmental parameter is greater than a first threshold.

[0033] Optionally, the monitoring device has lower power consumption than the sensing device.

[0034] Optionally, a plurality of the sensing devices and / or a plurality of the monitoring devices are arranged at different locations on the vehicle.

[0035] Optionally, when the environmental parameter is greater than a first threshold, the risk avoidance action control unit is turned on, and the risk avoidance action control unit is used to control the vehicle to avoid risk according to the environmental parameter and / or detailed information of the dangerous event.

[0036] Optionally, when the environmental parameter is greater than the first threshold, the corresponding perception device turns on a prompt mode, and the risk avoidance action control unit controls the vehicle to avoid risk according to the prompt information of the prompt mode.

[0037] Optionally, the monitoring device does not identify the occurrence of a dangerous event, continues to acquire the environmental parameter, and the environmental parameter continues to be greater than the first threshold within a first time, and controls the vehicle to avoid danger.

[0038] Optionally, it further includes a risk avoidance path planning unit, which adopts an improved path planning algorithm to plan a risk avoidance path, and the vehicle avoids risks according to the planned risk avoidance path.

[0039] According to a third aspect of the present application, a vehicle is provided, comprising the vehicle safety control system as described in any one of the second aspects.

[0040] According to a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the vehicle safety control method according to any one of the first aspects is implemented.

[0041] In an embodiment of the present application, a vehicle safety control method is provided, in which environmental parameters of the vehicle are obtained, and the environmental parameters include at least one of smoke concentration, temperature, humidity, pressure, sound, vibration frequency, and thermal radiation. When the environmental parameters can be used to identify relevant dangerous events that may have occurred around the vehicle, the dangerous events include but are not limited to: fire, volcanic eruption, mudslide, landslide, hail, different types of dangerous events correspond to relevant environmental parameters, and the relevant environmental parameters reflect the dangerous situation of the environment in which the vehicle is located. The vehicle is controlled to avoid danger according to the corresponding environmental parameters to stay away from dangerous events and reduce the occurrence of losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a flow chart of a vehicle safety control method provided in an embodiment of the present application;

[0043] Figure 2 This is a flowchart of determining whether a dangerous event has occurred, as provided in an embodiment of the present application;

[0044] Figure 3 This is a flowchart of whether to perform vehicle risk avoidance according to an embodiment of the present application;

[0045] Figure 4 This is another flowchart of whether to perform vehicle risk avoidance provided by an embodiment of the present application;

[0046] Figure 5 This is a flowchart of whether a safe haven destination can accommodate a vehicle provided by an embodiment of the present application;

[0047] Figure 6 This is a flow chart of a remote device controlling a vehicle to avoid danger, as provided in an embodiment of the present application;

[0048] Figure 7 This is a schematic structural diagram of a vehicle safety control system provided by an embodiment of the present application;

[0049] Figure 8This is a schematic diagram of a structure with a monitoring device provided in an embodiment of the present application;

[0050] Figure 9 This is a schematic diagram of a structure with a risk avoidance path planning unit provided in an embodiment of the present application; DETAILED DESCRIPTION

[0051] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application.

[0052] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0053] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0054] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0055] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0056] like Figure 1 As shown, an embodiment of the present application provides a vehicle safety control method, wherein the vehicle safety control method includes obtaining environmental parameters of the vehicle, wherein the environmental parameters are used to identify dangerous events, and the environmental parameters include at least one of smoke concentration, temperature, humidity, pressure, sound, vibration frequency, and thermal radiation; controlling the vehicle to avoid danger according to the environmental parameters corresponding to the dangerous event, and / or detailed information of the dangerous event, wherein the dangerous event includes at least one of: fire, volcanic eruption, mud and rock flow, landslide, hail, and waterlogging.

[0057] Specifically, current vehicle safety is mostly aimed at scenarios where vehicles are damaged by humans, and the main issues of concern are reducing working energy consumption and improving the accuracy of identifying dangerous phenomena. However, in daily life, there are not only man-made disasters, but also natural disasters, such as fires, fire outbreaks, mudslides, landslides, hail, and waterlogging. Especially with the popularization of new energy vehicles, the safety hazards brought by new energy vehicles are also increasing. Vehicles are generally parked in indoor parking lots, but most parking lot fire safety systems have not been upgraded accordingly. If the batteries of other vehicles in the parking lot thermally run away and explode, it will cause a fire, seriously endangering the safety of people and property. The vehicle safety control method provided in the embodiment of the present application can control the vehicle to avoid risks and stay away from danger sources to reduce personal and property losses.

[0058] The method provided in the embodiment of the present application can obtain environmental parameters, which include smoke concentration, temperature, humidity, water level, pressure, sound, vibration frequency, and thermal radiation. The environmental parameters can identify corresponding dangerous events. For example, when the dangerous event is identified as a fire or a volcanic eruption, the smoke concentration in the vehicle's environment, such as CO2 and CO concentration, can be detected, and temperature changes or thermal radiation conditions can be detected; when the dangerous event is identified as a mudslide or landslide, the sound information, pressure or vibration frequency and other information around the vehicle can be detected; when the dangerous event is hail, the temperature and humidity can be detected; when the dangerous event is waterlogging, the water level of the vehicle can be detected to identify whether a dangerous event has occurred. When a dangerous event occurs, an avoidance route can be planned according to the environmental parameters corresponding to the dangerous event, and the vehicle can be controlled to avoid the risk. The specific environmental parameters of the vehicle are taken into account in the process of planning the avoidance route, making the avoidance process safer and more reliable.

[0059] The embodiments of the present application use fire as an example for illustration, and the same applies to other types of dangerous events.

[0060] In one embodiment, when the environmental parameter is greater than a first threshold, detailed information of the dangerous event is obtained.

[0061] It can be understood that the first threshold refers to the minimum value of the environmental parameter when there is a safety hazard in the environment where the vehicle is located. In other words, if the environmental parameter exceeds the first threshold, it indicates that there is a safety hazard in the environment where the vehicle is located and a dangerous event may occur. In a fire scenario, the environmental parameters can be temperature, smoke concentration, thermal radiation, etc. For example, when the smoke concentration reaches 0.1 mg per cubic meter, it indicates that there is a safety hazard in the environment where the vehicle is located. Detailed information about the dangerous event fire is obtained to verify whether a fire has occurred to avoid false alarms that cause panic. In other words, at this time the dangerous event is a fire, the environmental parameter is smoke concentration, and the first threshold is that the smoke concentration per cubic meter reaches 0.1 mg. When the environmental parameter smoke concentration reaches 0.1 mg per cubic meter, there is a safety hazard of a fire incident.

[0062] At this time, in order to improve detection accuracy and reduce the probability of misjudgment, the vehicle can be controlled to further obtain detailed information on the dangerous event. The details of the dangerous event include the type of dangerous event, such as fire, landslide and other disasters, as well as image information of the dangerous event and the distance information of the dangerous event from the vehicle.

[0063] In one embodiment, the detailed information of the dangerous event includes: the type of dangerous event, the distance of the dangerous event, the hazard level of the dangerous event, and image information of the dangerous event. For example, the types of dangerous events include: fire, volcanic eruption, mud and rock flow, landslide, hail, waterlogging, etc. The distance between the dangerous source of the dangerous event and the vehicle can be monitored in real time by sensors. The degree of hazard of the dangerous event can be based on the numerical range of the environmental parameters detected by the sensors on the vehicle exceeding the first threshold, which can reflect the hazard level of the environment in which the vehicle is located. For example, if the environmental parameters are greater than the first threshold and less than 120% of the first threshold, the hazard level is level one; if the environmental parameters are greater than 120% of the first threshold and less than 200% of the first threshold, the hazard level is level two. Optionally, the detailed information of the dangerous event includes image information. It is understandable that the vehicle can be equipped with cameras and other equipment. When the environmental parameters exceed the first threshold, the camera can be turned on to capture and record the environmental conditions around the dangerous event, such as whether it is an open space or there are debris and plants, the size of the fire and the direction of spread. This information can be uploaded to a remote device to remind people of the occurrence of dangerous events and avoid them in time to reduce personal and material damage. The video can also be recorded to provide evidence for subsequent insurance compensation and other matters.

[0064] In one embodiment, when the environmental parameters identify the occurrence of a dangerous event, the environmental parameters are uploaded to a remote device, and the remote device is used to prompt the occurrence of the dangerous event, and / or control the acquisition of detailed information of the dangerous event, and / or control the vehicle to avoid danger.

[0065] Specifically, when the environmental parameters identify that a dangerous event has occurred, the environmental parameters can be uploaded to a remote device, which can be the owner's mobile phone, the owner's smart home, the control room of the parking lot, etc. After receiving the environmental parameters, the remote device can prompt the owner or other personnel that there is a hidden danger of a dangerous event. After receiving the prompt, the owner or other personnel can choose to control the vehicle to further collect detailed information about the dangerous event, or choose to control the vehicle to perform risk avoidance operations.

[0066] It is understandable that when a dangerous event is identified as a safety hazard, the vehicle's environmental parameters will be notified to the owner or other personnel as soon as possible to remind the owner or other personnel of the safety hazard. The owner or other personnel will be allowed to take control to obtain further detailed information on the dangerous event to reduce the occurrence of misjudgment, or to directly control the vehicle to avoid risks and maximize the protection of property safety.

[0067] In one embodiment, when the environmental parameter is greater than a first threshold, the vehicle obtains detailed information of the dangerous event and uploads the detailed information of the dangerous event to a remote device. The remote device can be used to prompt the occurrence of the dangerous event, and the remote device can also control the vehicle to avoid the danger. In this embodiment, when the environmental parameter is greater than the first threshold, the vehicle first obtains detailed information of the dangerous event and uploads the detailed information of the dangerous event to the remote device. After receiving the dangerous event, the remote device prompts that the dangerous event has occurred to warn the user of the remote device or other personnel that a dangerous event has occurred. The user of the remote device, such as the car owner or other personnel, can control the vehicle to avoid the danger based on the detailed information of the dangerous event received. In this embodiment, the detailed information of the dangerous event is sent to the remote device, which enables the user of the remote device or other personnel to more clearly understand what the dangerous event is and what measures should be taken to be more reasonable and efficient, thereby reducing unnecessary panic and improving the effectiveness of decision-making.

[0068] like Figure 2 As shown, in one embodiment, when the environmental parameter is greater than the first threshold, detailed information of the dangerous event is obtained. When the detailed information of the dangerous event does not identify the occurrence of the dangerous event, the environmental parameter is continuously obtained. When the environmental parameter continues to be greater than the first threshold within the first time, the vehicle is controlled to avoid danger.

[0069] Specifically, when an environmental parameter exceeds a first threshold, it indicates a potential safety hazard in the vehicle's environment. Detailed information about the dangerous event is then obtained, for example, by activating a camera to capture the vehicle's surroundings to identify any dangerous events. If the camera captures the vehicle's surroundings and does not identify a dangerous event, a preset time, known as a first time, can be set to improve the accuracy of environmental monitoring and reduce unnecessary panic. The specific length of the first time can be determined based on the first threshold and the type of environmental parameter. For example, if smoke concentration, an environmental parameter in a fire incident, indicates a high probability of a fire, the first threshold can be set to 0.1 mg / m³. The first time can be set to a shorter value, such as 10 seconds. Alternatively, if temperature, an environmental parameter in a fire incident, does not necessarily indicate a fire, the first threshold can be set to 80°C. Understandably, the surface temperature of open roads in many cities can reach as high as 60°C in the summer. A shorter first time could result in a false alarm. In this case, the first time can be set to 1 minute. If the environmental parameter remains above the first threshold for a sustained period within the first time, the vehicle can be controlled to avoid danger, thus reducing the likelihood of a dangerous event.

[0070] In one embodiment, when the environmental parameters are continuously greater than a first threshold within a first period of time, the environmental parameters and / or detailed information of the dangerous event are uploaded to a remote device, which can be used to prompt the occurrence of the dangerous event or control the vehicle to perform risk avoidance operations.

[0071] Specifically, when the environmental parameters are continuously greater than the first threshold within the first time, the environmental parameters can be directly uploaded to the remote device; when the environmental parameters are greater than the first threshold, detailed information of the dangerous event can be obtained and uploaded to the remote device; or the environmental parameters and detailed information of the dangerous event can be uploaded to the remote device together, and the remote device can be used to detect the occurrence of a dangerous event or control the vehicle to avoid danger.

[0072] In one embodiment, multiple environmental parameters at different positions of the vehicle are acquired; the multiple environmental parameters include: a first parameter and a second parameter, and risk avoidance path planning is performed based on the first parameter and the second parameter.

[0073] It is understood that multiple monitoring devices, such as sensors, can be installed at different locations on a vehicle. The differences in environmental parameters detected by each sensor can be used to deduce the location of the source of a dangerous event, allowing for evasive maneuvers away from the source. Optionally, sensors can be installed at the front, rear, left front and left rear, and right front and right rear, for a total of six sensors. Based on the differences in the values of environmental parameters detected by sensors at different locations on the vehicle, the location of a fire or other disaster can be inferred, allowing for appropriate evacuation routes. If a fire is located on the left front of the vehicle, a first parameter, such as temperature or smoke concentration, detected by the left front sensor will be greater than a second parameter, detected by the right rear sensor. Based on the magnitude by which the environmental parameter exceeds a first threshold, the vehicle can be evaded to the right or rear. In other words, when the first parameter significantly exceeds the first threshold, evacuation to the right rear can be used, enabling quicker movement away from the source of the dangerous event. When the first parameter slightly exceeds the first threshold, evacuation to the right or rear can be used, facilitating vehicle operation. For example, in a mudslide hazard scenario, the sound of a vehicle close to the mudslide will be louder than the sound of a vehicle away from the mudslide. In this case, the vehicle can move away from the mudslide to avoid danger.

[0074] In one embodiment, controlling the vehicle to avoid danger includes: controlling the vehicle to travel to a danger avoidance destination, or planning a danger avoidance path according to a plurality of environmental parameters, and controlling the vehicle to avoid danger according to the danger avoidance path.

[0075] Specifically, controlling a vehicle to avoid danger can include pre-determining a destination, then planning an evacuation route based on the vehicle's location, and then driving the vehicle along the evacuation route to the destination. Controlling a vehicle to avoid danger can also involve obtaining multiple environmental parameters, planning an evacuation route in real time based on the magnitude of these multiple environmental parameters, and comprehensively considering the vehicle's surrounding environment for evacuation. It is understood that the vehicle is controlled to avoid danger when the sum of the environmental parameters is less than a second threshold. For example, in the event of flooding, the evacuation destination can be set to high ground that can accommodate vehicles and is higher than the vehicle in the flooded area, thereby mitigating the damage caused by the flooding. For example, in the event of a fire, multiple sensors installed at different locations on the vehicle can detect multiple environmental parameters. Based on the varying magnitudes of these multiple environmental parameters, the vehicle can be predicted to be in the direction of the source of the danger, and then controlled to avoid danger away from the source. Fires can vary depending on factors such as wind direction and the presence of combustible materials around the fire, making it difficult to set a evacuation destination in advance. In this case, the vehicle can use environmental parameters obtained through real-time monitoring to determine the direction of the vehicle to avoid danger.

[0076] like Figure 3As shown, in one embodiment, a risk avoidance route is planned according to environmental parameters corresponding to a dangerous event. Specifically, when the sum of the environmental parameters is less than a second threshold, the vehicle is controlled to avoid the risk.

[0077] It is understandable that when the vehicle is close to the source of a dangerous event, starting the vehicle to avoid danger will further increase the probability of a dangerous event. When the sum of the environmental parameters of the vehicle is within the second threshold, the safety of the avoidance process can be improved. When the vehicle is very close to the fire source, the amplitude of the environmental parameters detected by the sensors on the vehicle will be very large. At this time, to avoid danger, the vehicle can be turned on for automatic parking. The power source of new energy vehicles comes from the battery pack. If the vehicle is very close to the fire source and the automatic parking of the vehicle is turned on, it may cause greater danger and increase the loss of life or property. When the amplitude of the sum of the environmental parameters is less than the second threshold, it is considered that the vehicle is far away from the fire source and is within a safe range. The vehicle avoids danger within the safe range, so that the vehicle can escape from the dangerous scene and ensure the safety of the avoidance path.

[0078] like Figure 4 As shown, in one embodiment, when the sum of the environmental parameters is greater than or equal to the second threshold, the alarm mode is activated.

[0079] Specifically, when the sum of the environmental parameters is greater than or equal to the second threshold, it indicates that the vehicle is close to a dangerous event. Activating automatic parking at this time may increase the safety risk. If automatic parking is not possible, an alarm mode can be activated to alert people around the vehicle of the dangerous event by honking the horn or flashing the lights. People around the vehicle can then take evacuation measures based on the specific circumstances of the dangerous event, such as calling the fire department or organizing others to evacuate.

[0080] like Figure 5 As shown, in one embodiment, when the shelter destination can accommodate the vehicle, the vehicle is controlled to avoid danger; when the shelter destination cannot accommodate the vehicle, an alarm mode is activated.

[0081] Specifically, a safe haven can be determined based on the numerical values of environmental parameters or detailed information about the dangerous event, such as the type of dangerous event and the distance from the vehicle. Alternatively, in flooding scenarios, high ground around the vehicle can be detected and identified as the safe haven. Alternatively, in dangerous events such as fires, volcanic eruptions, mudslides, and landslides, a safe haven can be detected near the vehicle, far enough from the dangerous event to provide a high probability of ensuring the vehicle's safety. The safe haven is a space that can accommodate the vehicle. Different vehicle types require different amounts of space. Specifically, large vehicles such as trucks, vans, or large SUVs require more space, while small cars require less. Upon detecting that a space is available at the safe haven, the vehicle is controlled to evade the danger. Furthermore, controlling the vehicle to evade the danger includes controlling the vehicle to drive along an evasive path to the safe haven. It is understood that the planned evasive path is the shortest route segment from the vehicle's starting location to the safe haven. To quickly distance the vehicle from the source of the dangerous event, the vehicle can be controlled to drive directly along the evasive path to the safe haven, thereby improving vehicle safety.

[0082] When the safe haven is too small to accommodate the vehicle, an alarm mode is activated. It is understood that a safe haven is a location far away from dangerous events where the vehicle's safety is highly likely to be guaranteed. If the safe haven is occupied by other objects, the vehicle cannot reach the safe haven. Optionally, an alarm mode can be activated to alert people around the vehicle to take safe haven action.

[0083] like Figure 6 As shown, in one embodiment, a control instruction sent by a remote device within a second time is received, and the control instruction is used to avoid risks.

[0084] Specifically, after the remote device receives detailed information on environmental parameters or dangerous events transmitted by sensors or other devices on the vehicle, the user of the remote device or other personnel makes a decision within a certain period of time and selects the corresponding control instructions to evade the vehicle. The time from the remote device receiving the information to the decision making is the second time. If the user of the remote device or other personnel does not operate within the second time, it can be inferred that the user of the remote device or other personnel has judged that the safety hazard caused by the change in environmental parameters is low, or that the safety hazard can be eliminated by other means, and there is no need to control the vehicle to evade the danger. The second time should not be too short, so as to avoid the remote device user or other personnel being distracted by other things and not noticing it, or the time from receiving the information to making the decision is too short, and there is not enough rational thinking; the second time should not be too long, because if it is too long, the dangerous event may have already occurred and spread, and there is no time to evade the danger.

[0085] In one embodiment, an improved path planning algorithm is used to plan a risk-avoidance path; the improved path planning algorithm includes environmental parameters.

[0086] Specifically, common path planning algorithms include: Dijkstra algorithm, A* algorithm, D* algorithm, LPA* algorithm, D*lite algorithm, etc. This embodiment uses the A* algorithm as an example, and the same applies to other algorithms. In the process of risk avoidance path planning, the impact of dangerous events can be used as a risk indicator. To further illustrate, an improved A* algorithm can be used in path planning. The traditional A* algorithm uses a cost function to evaluate the cost of each node on the path. The cost function is defined as:

[0087] f(n)=g(n)+h(n)

[0088] Where g(n) represents the actual cost of moving from the starting point to the current node n when there is no obstruction in the environment, and h(n) represents the actual cost estimate of the path from the current node n to the target point, which is generally called the heuristic function.

[0089] The calculation formula for g(n) is:

[0090] g(n')=g(n)+d

[0091] Where n is the current node, n' is a child node, and d is the cost of moving from n to n', which can generally be the distance between the two nodes. The heuristic function h(n) can generally be the Euclidean distance or Manhattan distance from the current node n to the target point.

[0092] Considering the impact of natural disasters and other dangerous events, such as a spontaneous combustion of a vehicle in an underground garage, the environmental parameters can be obtained from sensors installed on the vehicle. Optionally, the sum of the environmental parameters of six sensors installed at different positions on the vehicle is recorded as the accident impact function q(n), and the calculation formula of g(n) is modified to:

[0093] g(n')=g(n)+w1*d+w2*q(n')

[0094] Where w1 and w2 are the weights of the two items respectively. Based on this modified formula, the impact of dangerous events such as spontaneous combustion accidents can be considered in the path planning process, and a path away from the fire can be selected.

[0095] It can be understood that the improved hazard avoidance path planning algorithm, which incorporates environmental parameters, considers the vehicle's movement cost and the sum of environmental parameters detected by multiple sensors. Appropriate weights are assigned to these factors to plan an evasive path, which is then used to control the vehicle. This algorithm can assess whether the vehicle has sufficient energy to escape the danger zone, taking into account the sum of environmental parameters before controlling the vehicle to avoid the danger, to assess whether the vehicle is sufficiently safe to avoid the danger.

[0096] In one embodiment, the alarm mode includes: an alarm mode of the vehicle, an alarm mode of a remote device, and an alarm mode of the environment in which the vehicle is located.

[0097] Specifically, the alarm mode is to alert people around the vehicle or the user of the vehicle and other people that a dangerous event has occurred around the vehicle, and can attract the attention of relevant personnel by honking the horn, flashing lights, etc. The alarm mode can be an alarm device installed on the vehicle, for example, the vehicle uses the horn and flashing lights to remind people around the vehicle of the safety hazard. It can also be an alarm device on a remote device, for example, the remote device can be a mobile phone, and the alarm device on the mobile phone can ring. It can also be an alarm mode of the vehicle's environment, such as the vehicle is parked in an indoor parking lot. The indoor parking lot is equipped with an alarm device, which can sound an alarm to alert the occurrence of a dangerous event. It can warn of the existence of safety hazards, prompt relevant personnel to pay attention and take action, eliminate safety hazards in the bud, and reduce personal or property safety.

[0098] In one embodiment, different hazard levels of a dangerous event are determined based on the range by which an environmental parameter exceeds the first threshold, and different alarm modes are matched to different hazard levels. Specifically, the hazard level of a dangerous event can be determined based on the range by which the environmental parameter exceeds the first threshold. For example, when the environmental parameter is slightly greater than the first threshold, or optionally, greater than the first threshold but less than 120% of the first threshold, the hazard level is set to level 1; when the environmental parameter is greater than 120% of the first threshold but less than 200% of the first threshold, the hazard level is set to level 2; and when the environmental parameter is greater than 200% of the first threshold, the hazard level can be set to level 3. Alarm modes can be set to match the hazard level. For example, the alarm mode can be different types of alarms, such as vibration for a level 1 alarm, flashing lights for a level 2 alarm, and siren for a level 3 alarm. Alarm modes can also be different intensities of the same type of alarm, such as 70 decibels for a level 1 alarm, 80 decibels for a level 2 alarm, and 90 decibels for a level 3 alarm.

[0099] In one embodiment, after the vehicle reaches the evasion destination, or the vehicle is away from the source of danger of the dangerous event and reaches a safe area, or the dangerous event has been eliminated, a evasion completion instruction is sent to the remote device. Specifically, after the vehicle has evaded danger and reached the evasion destination; or the vehicle plans an evasion path based on multiple environmental parameters, controls the vehicle to evade danger according to the evasion, and moves away from the source of danger of the dangerous event; or the source of danger of the dangerous event has been eliminated and the vehicle is out of danger, in order to reduce unnecessary panic among the user of the remote device or other personnel, a evasion completion instruction can be sent to the remote device to remind them that the vehicle has reached a safe area and is away from the source of danger, so that the user of the remote device or other personnel can continue to do their tasks with peace of mind and reduce their worries and panic.

[0100] like Figure 7 As shown, on the other hand, the present application provides a vehicle safety control system, comprising: a sensing device for obtaining environmental parameters of the vehicle, and

[0101] The hazard avoidance action control unit is used to control the vehicle to avoid hazards based on environmental parameters and / or detailed information of dangerous events.

[0102] Specifically, a vehicle safety control system includes a sensing device installed on the vehicle. The sensing device is used to sense the vehicle's environment. Various sensors can be used to detect environmental parameters around the vehicle, such as temperature, thermal radiation, smoke concentration, pressure, sound, vibration frequency, humidity, and water level. These environmental parameters can be used to identify dangerous events, which may include fire, volcanic eruption, mudslide, landslide, hail, and waterlogging. The vehicle can be controlled to avoid danger based on the corresponding environmental parameters and / or detailed information about the dangerous event. The vehicle can avoid danger according to the evasion path planning, allowing the vehicle to escape the dangerous situation as quickly as possible and reduce personal or property losses.

[0103] In one embodiment, the sensing device includes an infrared sensor, a smoke sensor, a sound sensor, a temperature sensor, a pressure sensor, a vibration sensor, a radar group, a camera, etc.

[0104] Specifically, in scenarios such as fires and volcanic eruptions, smoke sensors can be used to detect smoke concentrations in the air. When the smoke concentration reaches a certain threshold, the sensor triggers an alarm. These sensors have the advantages of low power consumption and fast response time, but they are also more environmentally sensitive and have a smaller detection range. Temperature sensors are also available, and they are available in a wide variety of prices. Infrared sensors can also detect fires by detecting specific wavelengths of light within flames. Infrared sensors are highly sensitive to infrared radiation and can quickly respond to changes in target objects, capturing changes in infrared radiation within a very short time. This makes them highly reliable and accurate in automatic control and detection systems. Compared to other sensing technologies, infrared sensors are more resistant to ambient light and electromagnetic interference. For example, a fire produces a large amount of CO2 gas. The electromagnetic waves emitted by this gas have a peak in the 4.3μm band due to thermal resonance radiation, which intensifies the infrared electromagnetic energy in this band. Therefore, capturing infrared radiation signals in the narrow 4.3μm band can be used for fire identification. Infrared sensor measurements are highly sensitive and can capture changes in infrared radiation in a very short time. They are very important for temperature measurement and target detection in high-temperature environments or dangerous areas.

[0105] Currently, the most common flame recognition wavelength for photosensitive flame sensors is 4.3µm. Additionally, artificial heat sources with a central wavelength of 3.8µm and ambient heat sources with a central wavelength of 4.8µm are used for fire identification and to reduce interference. Mainstream photosensitive flame sensors on the market utilize a three-band infrared detection system. By analyzing the signal magnitude relationship among these three bands, this system can minimize interference from other factors and improve the accuracy and sensitivity of fire identification.

[0106] Cameras can identify fires through computer vision recognition algorithms. Their recognition effect is accurate and is not affected by ambient temperature and humidity. However, their recognition energy consumption is high and the algorithm efficiency is relatively low.

[0107] Therefore, when the vehicle is parked in an open scene, it is more reliable to identify dangerous events by integrating infrared sensors and camera visual recognition sensors.

[0108] In dangerous events such as mudslides and landslides, detection can be carried out through sound sensors, vibration sensors, radar groups and other sensing equipment. For example, mudslides will make sounds and also bring vibrations to the surrounding environment. The vibration frequency, loudness, timbre and other information of the vehicle's environment can be used to determine whether a dangerous event has occurred and the safety hazards that have occurred.

[0109] In dangerous events such as hail and flooding, liquid sensors and pressure sensors can be used to detect the water level of the vehicle submerged in the liquid. Only when the submerged water level is within a safe range can the vehicle be started to avoid danger.

[0110] In addition, the radar group can use electromagnetic waves to detect distance. The radar emits electromagnetic waves to illuminate the target and receives echoes, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance, the direction, and the altitude. Specifically, the vehicle is equipped with a radar group. The radar group on the vehicle can illuminate the dangerous source of the dangerous event by emitting electromagnetic waves. The radar group then receives the echo from the illuminated dangerous source and can obtain the distance, rate of change of distance, direction, and altitude between the vehicle and the dangerous source. The vehicle monitors the distance to the dangerous source in real time through the radar group and takes evasive action based on environmental parameters and / or detailed information about the dangerous event until the vehicle reaches the evacuation destination or the vehicle moves away from the dangerous source and reaches a safe area.

[0111] As shown in Figure 8, in one embodiment, the vehicle safety control system further includes a monitoring device, which is configured to obtain detailed information about a dangerous event when an environmental parameter exceeds a first threshold. The sensing device and the monitoring device can cooperate to activate the monitoring device to obtain detailed information about the dangerous event when the environmental parameter detected by the sensing device exceeds the first threshold. It is understood that the sensing device focuses more on its sensitivity to environmental parameters, while the monitoring device focuses more on identifying detailed information about the dangerous event that caused the change in environmental parameters. The detailed information about the dangerous event may include the type of dangerous event, the distance from the source of the dangerous event to the vehicle, the hazard level of the dangerous event, and image information about the dangerous event. First, a highly sensitive sensing device is used to detect changes in the vehicle's surrounding environment. If the vehicle's environmental parameters are abnormal, the monitoring device is used to obtain detailed information about the dangerous event that caused the change in the environmental parameters to reduce misjudgment caused by the sensitive sensing device and alleviate unnecessary panic. The specific circumstances of the change in the environmental parameters are clarified. If the dangerous event that caused the change in the environmental parameters does not affect vehicle safety, risk avoidance operations can be omitted.

[0112] In one embodiment, the monitoring device has lower power consumption than the sensing device.

[0113] Specifically, the sensing device is installed on the vehicle to detect the environmental parameters of the vehicle's environment. It is necessary to continuously monitor the vehicle's surroundings. If a camera or other device that can identify detailed information of dangerous events is used, its power consumption is relatively high. Nowadays, most of the vehicles are new energy vehicles, and power consumption is very important for driving distance and driving experience. Therefore, the sensing device can use a low-power device to continuously monitor the environmental parameters. When the sensing device detects an abnormality, the monitoring device can be started to further obtain the specific reasons for the change in environmental parameters. If there is a dangerous event, it will be recorded for subsequent use. The accuracy of its detection is further improved. Therefore, the cooperation between the sensing device and the monitoring device can save energy while improving the accuracy of detection.

[0114] Specifically, the infrared sensor can be used to detect environmental parameters around the vehicle, while other high-energy-consuming devices such as the controller and camera can be put into hibernation. When the amplitude of the infrared sensor's detection band signal is greater than a first threshold, it can be understood that the infrared sensor has detected an abnormality in the vehicle's surrounding environment. The camera can be turned on for image recognition, and the camera can then obtain specific circumstances and detailed information about the dangerous event. A risk avoidance path plan can be generated based on the environmental parameters around the vehicle obtained by the infrared sensor and / or the detailed information about the dangerous event obtained by the camera. The unit that plans the risk avoidance path can be the controller. In other words, initially, high-power-consuming devices such as the camera and controller are turned off, and the vehicle's surrounding environment is detected by sensing devices such as infrared sensors. When the infrared sensor detects an abnormality in the vehicle's surrounding environment, in order to ensure detection accuracy and improve detection robustness, another sensor that complements the infrared sensor can be added to further obtain detailed information about the dangerous event. After obtaining sufficient information, the risk avoidance path planning unit can be used to avoid the danger, or sufficient information can be uploaded to a remote device, or an alarm can be triggered in a timely manner to alert relevant personnel of the occurrence of a dangerous event or risk, so that others can then take corresponding actions to control the vehicle to avoid the danger.

[0115] In other scenarios, a variety of other types of sensors can be adapted according to the corresponding characteristics of the scenarios. Multiple sensors can complement each other's advantages to ensure the accuracy, stability, and timeliness of detection, while saving energy, etc.

[0116] Monitoring equipment Monitoring equipment can be radar groups, cameras and other devices.

[0117] In one embodiment, multiple sensing devices and / or multiple monitoring devices are disposed at different locations of the vehicle.

[0118] Specifically, multiple sensing devices and / or monitoring devices are positioned at different locations on the vehicle. For example, the infrared sensors of the sensing devices can be arranged similarly to the onboard cameras of the monitoring devices, with the following configuration: a front infrared sensor at the front of the vehicle, a rear infrared sensor at the rear, a left front infrared sensor and a left rear infrared sensor on the left side of the vehicle, and a right front infrared sensor and a right rear infrared sensor on the right side, for a total of six infrared sensors. The infrared sensors on the vehicle detect the amplitude of signals in specific wavelength bands within their corresponding sensing ranges in real time. For example, a photosensitive flame sensor's flame recognition wavelength band is approximately 4.3 μm, the center wavelength of artificial heat sources is approximately 3.8 μm, and the center wavelength of ambient heat sources is approximately 4.8 μm. This can be used for interference elimination and fusion judgment in fire identification. The environmental parameters detected by the infrared sensors of the sensing devices at different locations on the vehicle, or the detailed information about dangerous events detected by the monitoring devices at different locations on the vehicle, can be different. The vehicle can be controlled to avoid danger based on the different parameters detected by the infrared sensors and monitoring devices at different locations on the vehicle.

[0119] For example, when the amplitude of the ambient signal collected by a particular infrared sensor exceeds a preset first threshold, the corresponding camera is powered on and the monitoring device is activated to identify detailed information about the dangerous event. For example, six infrared sensors can be set up in different locations on the vehicle: a front infrared sensor at the front, a rear infrared sensor at the rear, a left front infrared sensor and a left rear infrared sensor on the left side, and a right front infrared sensor and a right rear infrared sensor on the right side, for a total of six infrared sensors. If the amplitude of the environmental signal collected by the left front infrared sensing device exceeds the preset first threshold value: the control monitoring device is powered on and started, and the detailed information identification of the left front dangerous event is started; if the amplitude of the environmental signal collected by the left rear infrared sensing device exceeds the first threshold value: the control monitoring device is powered on and started, and the detailed information identification of the left rear dangerous event is started; if the amplitude of the environmental signal collected by the right front infrared sensing device exceeds the preset first threshold value: the control monitoring device is powered on and started, and the detailed information identification of the right front dangerous event is started; if the amplitude of the environmental signal collected by the right rear infrared sensing device exceeds the preset first threshold value: the control monitoring device is powered on and started, and the detailed information identification of the right rear dangerous event is started; if the amplitude of the environmental signal collected by the front infrared sensing device exceeds the preset first threshold value: the control monitoring device is powered on and started, and the detailed information identification of the front dangerous event is started; if the amplitude of the environmental signal collected by the rear infrared sensing device exceeds the preset first threshold value: the control monitoring device is powered on and started, and the detailed information identification of the rear dangerous event is started.

[0120] Optionally, the monitoring device may be a camera, and the identification of detailed information of the dangerous event may be performed by turning on the camera to shoot and identify.

[0121] In one embodiment, when the environmental parameter is greater than a first threshold, the evasive action control unit is activated, and the evasive action control unit is configured to control the vehicle to evade danger based on the environmental parameter and / or detailed information of the dangerous event.

[0122] It can be understood that the perception device continuously monitors environmental parameters and uses low-power devices. When an abnormality occurs when the environmental parameters exceed the first threshold, the avoidance action control unit is turned on. The vehicle can be controlled to avoid risks based on the environmental parameters and / or detailed information of the dangerous event, which can effectively save energy consumption.

[0123] In one embodiment, when the environmental parameter is greater than the first threshold, the corresponding sensing device turns on a prompt mode, and the risk avoidance action control unit controls the vehicle to avoid risk according to the prompt information of the prompt mode.

[0124] It can be understood that when the environmental parameters collected by the sensing device are greater than the first threshold, the sensing device turns on the prompt mode. The prompt mode can be an alarm method such as honking a horn and flashing lights. When the sensing device alarms, the hazard avoidance action control unit needs to determine the location of the sensing device alarm and control the vehicle to avoid danger according to the location of the sensing device alarm.

[0125] Optionally, the prompt mode can also be a warning instruction sent by the sensing device to the evasive action control unit. For example, if the environmental parameter obtained by the left front infrared sensing device is greater than the first threshold: the left front flag bit is recorded, and evasive control is performed according to the corresponding flag bit. For example, if the environmental parameter detected by the left front infrared sensing device is greater than the first threshold, the left front infrared sensing device sends a warning instruction to the evasive action control unit, records the left front flag bit as 1, and the evasive action control unit controls the vehicle to avoid danger to the right rear, or to the right or rear according to the left front flag bit. The same applies to sensing devices at other positions of the vehicle.

[0126] In one embodiment, if the environmental parameter acquired by the sensing device is greater than the first threshold, the risk avoidance action control unit controls the monitoring device corresponding to the sensing device to obtain detailed information of the dangerous event. Specifically, a plurality of sensing devices are provided on the body of the vehicle. A plurality of monitoring devices corresponding to the number of sensing devices may be provided, or monitoring devices not corresponding to the number of sensing devices may be provided. Optionally, six sensing devices may be provided, including a front infrared sensor at the front of the vehicle, a rear infrared sensor at the rear of the vehicle, a left front infrared sensor and a left rear infrared sensor on the left side of the vehicle, and a right front infrared sensor and a right rear infrared sensor on the right side of the vehicle. Six monitoring devices may also be provided. For example, if the environmental parameter detected by the left front infrared sensing device is greater than the first threshold, the left front infrared sensing device sends a warning instruction to the risk avoidance action control unit, and the risk avoidance action control unit controls the left front monitoring device to start obtaining specific information about the environment in front of the left side of the vehicle.

[0127] Optionally, a monitoring device can be placed on the roof. This device can adjust its viewing angle, allowing one monitoring device to monitor the locations of six sensing devices by adjusting its angle. For example, if the environmental parameter detected by the left-front infrared sensor exceeds a first threshold, the left-front infrared sensor will send a warning instruction to the evasive action control unit, record the left-front flag position, and the evasive action control unit will control the monitoring device to adjust its angle to the left front based on the left-front flag position, allowing the monitoring device to further obtain specific information about the environment in front of the left side of the vehicle, namely, detailed information about dangerous events in front of the left side of the vehicle. The same applies to sensing devices and monitoring devices in other locations.

[0128] In one embodiment, the monitoring device does not identify the occurrence of a dangerous event, the perception device continues to obtain environmental parameters, and the environmental parameters continue to be greater than a first threshold within a first time, and the vehicle is controlled to avoid danger.

[0129] Specifically, when the environmental parameter is greater than the first threshold, the monitoring device is turned on to obtain detailed information of the dangerous event. The detailed information of the dangerous event does not identify the occurrence of the dangerous event. For example, the monitoring device can be a camera. When the environmental parameter, such as smoke concentration, is greater than the first threshold, the camera is turned on for image recognition to determine whether there is a fire in the image. If the image recognizes that a fire has occurred, a warning instruction can be sent to a remote device, and a warning instruction can also be sent to the risk avoidance action control unit.

[0130] If image recognition does not detect a fire around the vehicle, the environmental parameters collected by the sensing device continue to be greater than the first threshold within the preset first time, for example, the amplitude of the infrared band signal collected by the infrared sensing device continues to be greater than the first threshold, and an early warning instruction is also sent to the remote device or the risk avoidance action control unit.

[0131] If image recognition doesn't detect a fire around the vehicle, and the environmental parameters collected by the sensing device are not continuously greater than a first threshold within a preset first time period, a warning cancellation command can be sent to the evasive action control unit. Upon receiving the warning cancellation command, the evasive action control unit controls the monitoring device and / or powers down the evasive action control unit. It is understood that to conserve energy, the sensing device continuously acquires environmental parameters around the vehicle, while the more energy-intensive monitoring device and evasive action control unit are powered down. However, when environmental parameters become abnormal, to improve detection accuracy and reduce panic caused by false alarms, the more energy-intensive monitoring device is activated to further obtain detailed information about the dangerous event. When the monitoring device detects a dangerous event, it promptly issues an alarm and takes evasive action. However, if no dangerous event is detected, and the environmental parameters are not continuously greater than the first threshold within the first time period, it is understood that the danger in the vehicle's environment has been eliminated, and the monitoring device can be powered down, while the sensing device continues to monitor the vehicle's environment. Furthermore, the evasive action control unit controls the vehicle to move away from the danger after a dangerous event occurs. If the danger in the vehicle's environment has been eliminated, the evasive action control unit can also be powered down and put into hibernation.

[0132] Controlling the vehicle to perform risk avoidance operations, including: when an environmental parameter exceeds a first threshold, recording the sensing device corresponding to the first threshold as a flag position, when there is a flag position in the left front or left rear, the initial risk avoidance path planning direction is to the right; when there is a flag position in the right front or right rear, the initial risk avoidance path planning direction is to the left; currently there is a flag position, judging whether the amplitude of the left front sensing device is greater than that of the right front sensing device, if the amplitude of the left front sensing device is greater than that of the right front sensing device, the initial risk avoidance path planning direction is to the right; if the amplitude of the left front sensing device is less than that of the right front sensing device, the initial risk avoidance path planning direction is to the left; when the rear flag position is reached, judging whether the amplitude of the left rear sensing device is greater than that of the right rear sensing device, if the amplitude of the left rear sensing device is greater than that of the right rear sensing device, the initial risk avoidance path planning direction is to the right; if the amplitude of the left rear sensing device is less than that of the right rear sensing device, the initial risk avoidance path planning direction is to the left.

[0133] In one embodiment, the control system further includes a hazard avoidance path planning unit. The hazard avoidance path planning unit utilizes an improved hazard avoidance path planning algorithm that includes the environmental parameters. The vehicle avoids hazards according to the planned hazard avoidance path. Specifically, the hazard avoidance path planning unit may be independent of the hazard avoidance action control unit or may be integrated with the hazard avoidance action control unit.

[0134] It should be noted that the description of the above-mentioned vehicle safety control system can be found in the description of the above-mentioned vehicle safety control method, which will not be repeated here.

[0135] In a third aspect, an embodiment of the present application provides a vehicle, which includes a vehicle safety control system provided by any of the above embodiments.

[0136] In one embodiment of the present application, the vehicle may be a fuel vehicle, an electric vehicle, or a hybrid vehicle.

[0137] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the vehicle safety control method according to any one of the above method embodiments is implemented.

[0138] The present application may be a system, method and / or computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present application.

[0139] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: 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), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0140] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0141] The computer program instructions for performing the operation of the present application can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data or source code or object code written in any combination of one or more programming languages, wherein the programming language includes object-oriented programming languages such as Smalltalk, C++, and conventional procedural programming languages such as "C" language or similar programming languages. Computer-readable program instructions can be executed completely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or executed completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer by any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (such as by using an Internet service provider to connect to the Internet). In certain embodiments, by utilizing the state information of computer-readable program instructions to personalize electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs) or programmable logic arrays (PLAs), the electronic circuits can execute computer-readable program instructions, thereby realizing various aspects of the present application.

[0142] Various aspects of the present application are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0143] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0144] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0145] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a part of a module, program segment or instruction, and the part of the module, program segment or instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes 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 flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0146] The embodiments of the present application have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, their practical applications, or technical improvements in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein. The scope of this application is defined by the appended claims.

Claims

1. A vehicle safety control method, characterized in that: The following steps are involved: Acquiring environmental parameters of the vehicle's environment, the environmental parameters being used to identify at least one dangerous event, the environmental parameters including at least one of smoke concentration, temperature, thermal radiation, pressure, sound, vibration frequency, humidity, and water level; When the dangerous event occurs, the vehicle is controlled to avoid danger according to the environmental parameters corresponding to the dangerous event and / or the detailed information of the dangerous event; the dangerous event includes: at least one of: fire, volcanic eruption, mud and rock flow, landslide, hail, and waterlogging.

2. The control method according to claim 1, characterized in that: When the environmental parameter is greater than a first threshold, detailed information of the dangerous event is obtained.

3. The control method according to claim 1 or 2, characterized in that: The detailed information of the dangerous event includes: the type of the dangerous event, the distance of the dangerous event from the vehicle, the hazard level of the dangerous event, and image information of the dangerous event.

4. The control method according to claim 1, wherein: When the environmental parameters identify the occurrence of the dangerous event, the environmental parameters are uploaded to a remote device, and the remote device is used to prompt the occurrence of the dangerous event, and / or control the acquisition of detailed information of the dangerous event, and / or control the vehicle to avoid danger.

5. The control method according to claim 2, characterized in that: When the environmental parameter is greater than the first threshold, detailed information of the dangerous event is obtained and uploaded to a remote device, which is used to prompt the occurrence of the dangerous event and / or control the vehicle to avoid danger.

6. The control method according to claim 2, characterized in that: When the environmental parameter is greater than the first threshold, detailed information of the dangerous event is obtained, and the detailed information of the dangerous event does not identify the occurrence of the dangerous event, The environmental parameter is continuously acquired, and if the environmental parameter is continuously greater than the first threshold within a first period of time, the vehicle is controlled to avoid danger.

7. The control method according to claim 6, characterized in that: When the environmental parameter continues to be greater than the first threshold within the first time, the environmental parameter and / or detailed information of the dangerous event are uploaded to a remote device, and the remote device is used to prompt the occurrence of the dangerous event and / or control the vehicle to avoid danger.

8. The control method according to claim 1, characterized in that: include: Acquiring a plurality of environmental parameters at different positions of the vehicle; The multiple environmental parameters include: a first parameter and a second parameter. A risk avoidance path is planned according to the first parameter and the second parameter, and the vehicle is controlled to avoid risks according to the risk avoidance path.

9. The control method according to any one of claims 4 to 7, characterized in that: The controlling the vehicle to avoid danger includes: Control the vehicle to travel to a danger avoidance destination, or plan a danger avoidance path according to a plurality of the environmental parameters, and control the vehicle to avoid danger according to the danger avoidance path.

10. The control method according to claim 1 or 9, characterized in that: The planning of the risk avoidance path according to the environmental parameters corresponding to the dangerous event is specifically: When the sum of the environmental parameters is less than a second threshold, the vehicle is controlled to avoid danger.

11. The control method according to claim 10, characterized in that: When the sum of the environmental parameters is greater than or equal to a second threshold, the alarm mode is activated.

12. The control method according to claim 9, characterized in that: When the evacuation destination can accommodate the vehicle, controlling the vehicle to evade danger; When the shelter destination cannot accommodate the vehicle, an alarm mode is activated.

13. The control method according to any one of claims 4, 5 and 7, characterized in that: Receive a control instruction sent by the remote device within a second time, and perform risk avoidance according to the control instruction.

14. The control method according to claim 1, characterized in that: Use improved risk avoidance path planning algorithm to plan risk avoidance paths; The improved risk avoidance path planning algorithm includes the environmental parameters.

15. The control method according to claim 11 or 12, characterized in that: The alarm mode includes: an alarm of the vehicle, an alarm of the remote device, and an alarm of the environment in which the vehicle is located.

16. The control method according to claim 1, characterized in that: Different hazard levels of the dangerous event are determined according to different ranges in which the environmental parameter exceeds the first threshold, and the different hazard levels match different alarm modes.

17. The control method according to claim 13, characterized in that: When the vehicle arrives at the danger avoidance destination, or when the vehicle moves away from the dangerous event and arrives at a safe area, or when the dangerous event has been eliminated, a danger avoidance completion instruction is sent to the remote device.

18. A vehicle safety control system, characterized in that: include: Perception equipment, used to obtain the vehicle's environmental parameters, and The risk avoidance action control unit is used to control the vehicle to avoid the risk according to the environmental parameters and / or detailed information of the risk event after the risk event occurs.

19. The control system according to claim 18, characterized in that The sensing device includes at least one of an infrared sensor, a smoke sensor, a temperature sensor, a pressure sensor, a vibration sensor, a radar group, a sound sensor, a liquid level sensor, and a camera.

20. The control system according to claim 18, wherein: It also includes a monitoring device, which is used to obtain detailed information of the dangerous event when the environmental parameter is greater than a first threshold.

21. The control system according to claim 20, characterized in that: The monitoring device has lower power consumption than the sensing device.

22. The control system according to claim 20, characterized in that The plurality of sensing devices and / or the plurality of monitoring devices are arranged at different locations of the vehicle.

23. The control system according to claim 18 or 20, characterized in that: When the environmental parameter is greater than a first threshold, the risk avoidance action control unit is turned on, and the risk avoidance action control unit is used to control the vehicle to avoid risk according to the environmental parameter and / or detailed information of the dangerous event.

24. The control system according to claim 18, wherein: When the environmental parameter is greater than the first threshold, the corresponding sensing device turns on the prompt mode, and the risk avoidance action control unit controls the vehicle to avoid risk according to the prompt information of the prompt mode.

25. The control system according to claim 20, characterized in that The monitoring device does not identify the occurrence of a dangerous event, and continues to obtain the environmental parameter. The environmental parameter is continuously greater than the first threshold within a first period of time, and the vehicle is controlled to avoid danger.

26. The control system according to claim 19, characterized in that It also includes a risk avoidance path planning unit, which uses an improved path planning algorithm to plan a risk avoidance path, and the vehicle avoids risks according to the planned risk avoidance path.

27. A vehicle, characterized in that: A vehicle safety control system comprising any one of claims 18-26.

28. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle safety control method as described in any one of claims 1 to 17.

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