Vehicle control method, electronic equipment and vehicle
By dynamically adjusting the boundaries of the electronic fence based on vehicle contours and sensor information, the problem that static object fences cannot adapt to dynamic scenes is solved, achieving safer and more feasible driving monitoring.
Patent Information
- Application Number
- CN202510954267.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-10
- Publication Date
- 2025-09-16
AI Technical Summary
The existing electronic fence formed by static objects cannot adapt to complex dynamic scenes, affecting the driving monitoring effect.
The boundary configuration range of the electronic fence is determined based on the preset vehicle model information, and the boundary of the electronic fence is dynamically adjusted using the vehicle outline and sensor information to ensure that the fence area can be monitored by the sensor, and the target boundary is updated in real time to adapt to different user needs and environmental requirements.
Provide a safer driving space, ensure the feasibility and effectiveness of driving monitoring, monitor intrusion targets in real time, improve driving safety and standardize driving.
Smart Images
Figure CN120645987A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present application relate to the field of vehicle control technology, and in particular to a vehicle control method, electronic equipment, and a vehicle. Background Art
[0002] With the rapid development of intelligent driving technology, vehicles are equipped with various assistance systems for early warning operations, such as adaptive cruise control, lane keeping systems, automatic braking assistance systems, lane change assistance systems, and other active or passive warning systems. Existing assistance systems generally rely on electronic fences formed by static objects for safety protection, which cannot adapt to more complex dynamic scenarios, affecting driving monitoring effectiveness. Summary of the Invention
[0003] The embodiments of the present application provide a vehicle control method, an electronic device, and a vehicle to solve the problem that the existing electronic fence formed by static objects cannot adapt to dynamic scenes and affects the driving monitoring effect.
[0004] A vehicle control method, comprising: During vehicle travel, the boundary configuration range corresponding to the electronic fence is determined based on the preset vehicle model information. The electronic fence is a fence that extends outward from the vehicle outline determined based on the preset vehicle model information to define the area that can be monitored by the sensor; Determining a target boundary corresponding to the electronic fence based on a boundary configuration range corresponding to the electronic fence; Driving monitoring is performed based on the target boundary corresponding to the electronic fence.
[0005] In this embodiment, during vehicle driving, the boundary configuration range corresponding to the electronic fence is determined based on the preset vehicle model information, so that the formed electronic fence is centered on the vehicle outline and can follow the movement of the vehicle. Compared with the electronic fence determined based on a static object (such as a road), it can provide the driver with a safer driving space during vehicle driving; moreover, the area defined by the electronic fence can be monitored by the sensor to ensure the feasibility of driving monitoring based on the electronic fence; based on the boundary configuration range corresponding to the electronic fence, the target boundary corresponding to the electronic fence is determined, which can support dynamic updating of the target boundary of the electronic fence during vehicle driving to adapt to different user needs or different needs of the vehicle's environment; based on the target boundary corresponding to the electronic fence, driving monitoring is performed, and all target objects that invade the target boundary of the electronic fence are monitored in real time, which can effectively ensure driving safety.
[0006] In one embodiment, the preset vehicle model information includes vehicle profile information and sensor information; The step of determining the boundary configuration range corresponding to the electronic fence based on the preset vehicle model information includes: Determining a starting point boundary corresponding to the electronic fence based on the vehicle profile information; Determining an outer boundary corresponding to the electronic fence based on the sensor information; Based on the starting point boundary corresponding to the electronic fence and the extension boundary corresponding to the electronic fence, a boundary configuration range corresponding to the electronic fence is determined.
[0007] In this embodiment, based on the vehicle contour information, the starting point boundary corresponding to the electronic fence can be quickly and accurately determined to ensure the efficiency of determining the starting point boundary; based on the sensor information, it is ensured that the area defined by the outer extension boundary corresponding to the electronic fence can be monitored by the sensor, providing protection for the electronic fence to perform driving monitoring; based on the starting point boundary and the outer extension boundary, the boundary configuration range of the electronic fence is determined to limit the boundary range configured by the user, which helps to prevent the user-configured boundary from invading the vehicle contour or leaving the monitoring range of the sensor, thereby ensuring the effectiveness of the electronic fence.
[0008] In one embodiment, the sensor information includes installation locations and monitoring ranges corresponding to a plurality of sensors; The determining, based on the sensor information, an outer boundary corresponding to the electronic fence includes: Determine the monitoring area corresponding to each sensor based on the installation position and monitoring range corresponding to each sensor; Based on the monitoring areas corresponding to the multiple sensors, the outer boundary corresponding to the electronic fence is determined.
[0009] In this embodiment, based on the installation position and monitoring range corresponding to each sensor, the monitoring area corresponding to the sensor deployed on the vehicle is determined, and the monitoring area moves with the vehicle to ensure that intrusion events in the monitoring area can be monitored by the corresponding sensor; then, based on the monitoring areas corresponding to multiple sensors, the outer boundary corresponding to the electronic fence is determined, so that the area within the outer boundary can be monitored by at least one sensor, to ensure the feasibility of subsequent driving monitoring.
[0010] In one embodiment, determining the outer boundary corresponding to the electronic fence based on the monitoring areas corresponding to the multiple sensors includes: Determining a monitoring intersection point corresponding to two adjacent sensors based on monitoring areas corresponding to the two adjacent sensors; Based on all the monitored intersections, an outer boundary corresponding to the electronic fence is determined.
[0011] In this embodiment, based on the monitoring areas corresponding to two adjacent sensors, the corresponding monitoring intersection is determined to ensure that the monitoring intersection can be monitored by the two adjacent sensors; then based on all the monitoring intersections, the outer boundary corresponding to the electronic fence is determined, so that the outer boundary is within the area defined by all the monitoring intersections to ensure that the area within the outer boundary can be monitored by at least one sensor, so as to ensure the feasibility of subsequent vehicle monitoring based on the electronic fence.
[0012] In one embodiment, determining the outer boundary corresponding to the electronic fence based on all the monitored intersections includes: Determine an intersection distance corresponding to each of the monitoring intersections, where the intersection distance is the minimum distance from the monitoring intersection to the starting point boundary corresponding to the electronic fence; The minimum value of the intersection distances corresponding to all the monitoring intersections is determined as the boundary width of the electronic fence; An outer extension boundary of the electronic fence is determined based on a starting point boundary corresponding to the electronic fence and a boundary width corresponding to the electronic fence.
[0013] In this embodiment, the corresponding extended boundary is determined based on the starting boundary and boundary width of the electronic fence, so that the extended boundary of the electronic fence can be matched with the shape of the starting boundary, so that the boundary configuration range formed by the two can match the contour shape of the vehicle, which is convenient for the user to adjust the boundary parameters independently; since the boundary width is the minimum value of the intersection distance corresponding to all monitoring intersections, the extended boundary determined based on the starting boundary and the boundary width is within the area enclosed by all monitoring intersections to ensure that the area within the extended boundary can be monitored by at least one sensor, so as to ensure the feasibility of subsequent vehicle monitoring based on the electronic fence.
[0014] In one embodiment, determining the outer boundary of the electronic fence based on the starting boundary corresponding to the electronic fence and the boundary width corresponding to the electronic fence includes: Determining an initial boundary corresponding to the electronic fence based on a starting boundary corresponding to the electronic fence and a boundary width corresponding to the electronic fence; Based on the measured vehicle data, the initial boundary corresponding to the electronic fence is corrected to determine the extended boundary corresponding to the electronic fence.
[0015] In this embodiment, the initial boundary of the electronic fence is determined based on the starting boundary and boundary width corresponding to the electronic fence. Because the boundary width is the minimum intersection distance corresponding to all monitoring intersections, the initial boundary is within the area enclosed by all monitoring intersections. This ensures that the area within the initial boundary can be monitored by at least one sensor, thereby ensuring the feasibility of subsequent vehicle monitoring based on the electronic fence. The initial boundary is modified based on measured vehicle data so that the determined extended boundary corresponding to the electronic fence can adapt to the different needs of the vehicle's environment.
[0016] In one embodiment, the modifying of the initial boundary corresponding to the electronic fence based on the measured vehicle data to determine the outer boundary corresponding to the electronic fence includes: Determining a correction coefficient corresponding to the measured vehicle data based on a mapping relationship between the measured vehicle data and a preset coefficient; Based on the correction coefficient corresponding to the measured vehicle data and the initial boundary corresponding to the electronic fence, the outer boundary corresponding to the electronic fence is determined.
[0017] In this embodiment, the preset coefficient mapping relationship is queried based on the measured vehicle data, and the corresponding correction coefficient can be quickly determined. Based on the correction coefficient, the initial boundary corresponding to the electronic fence is corrected so that the corrected outer boundary can adapt to the different needs of the vehicle's environment.
[0018] In one embodiment, the modifying of the initial boundary corresponding to the electronic fence based on the measured vehicle data to determine the outer boundary corresponding to the electronic fence includes: comparing the measured vehicle data with a boundary expansion condition and a boundary contraction condition; If the measured vehicle data satisfies the boundary expansion condition, the initial boundary corresponding to the electronic fence is expanded to determine the extended boundary corresponding to the electronic fence; If the measured vehicle data meets the boundary reduction condition, the initial boundary corresponding to the electronic fence is reduced to determine the outer boundary corresponding to the electronic fence; If the measured vehicle data does not satisfy the boundary expansion condition and does not satisfy the boundary contraction condition, the initial boundary corresponding to the electronic fence is used to determine the extended boundary corresponding to the electronic fence.
[0019] In this embodiment, based on the comparison results of the measured vehicle data with the boundary expansion conditions and the boundary contraction conditions, it is evaluated whether the initial boundary needs to be expanded or contracted so that the outer boundary corresponding to the final determined electronic fence can adapt to the different needs of the vehicle's environment.
[0020] In one embodiment, determining the target boundary corresponding to the electronic fence based on the boundary configuration range corresponding to the electronic fence includes: Controlling the display screen to display the boundary configuration range corresponding to the electronic fence, and waiting to receive a boundary adjustment request triggered by the user within a preset time period; If the boundary adjustment request is received within a preset time period, determining the target boundary corresponding to the electronic fence by using the adjustment boundary corresponding to the boundary adjustment request, wherein the adjustment boundary is determined based on the boundary configuration range; If the boundary adjustment request is not received within a preset time period, a target boundary corresponding to the electronic fence is determined based on the boundary configuration range corresponding to the electronic fence.
[0021] In this embodiment, when a boundary adjustment request is received during a preset time period, the target boundary corresponding to the electronic fence is determined based on the adjustment boundary independently set by the user within the boundary configuration range to adapt to the different needs of the user, and the area corresponding to the target boundary can be monitored by at least one sensor, thereby ensuring the feasibility of driving monitoring; when no boundary adjustment request is received during the preset time period, the boundary configuration range can be directly determined as the target boundary corresponding to the electronic fence, and the area corresponding to the target boundary can be monitored by at least one sensor, thereby ensuring the feasibility of driving monitoring.
[0022] In one embodiment, the vehicle monitoring based on the target boundary corresponding to the electronic fence includes: If the fence intrusion time is greater than the preset time threshold, an alarm operation will be executed; The fence intrusion time is the duration that the sensor detects that the target object intrudes into the target boundary corresponding to the electronic fence.
[0023] In this embodiment, the duration of the target object being monitored to intrude into the target boundary corresponding to the electronic fence is determined as the fence intrusion time. When the fence intrusion time is greater than the preset time threshold, it is determined that there is a high probability of a collision between the target object and the vehicle. Therefore, an alarm operation needs to be performed to ensure driving safety.
[0024] In one embodiment, the vehicle monitoring based on the target boundary corresponding to the electronic fence includes: Collect and store intrusion surveillance video corresponding to the fence intrusion time; The fence intrusion time is the duration that the sensor detects that the target object intrudes into the target boundary corresponding to the electronic fence.
[0025] In this embodiment, when a target object is detected intruding into the target boundary of the electronic fence, an intrusion monitoring video corresponding to the fence intrusion time is collected and saved to assist in determining whether there is a potential illegal incident.
[0026] An electronic device includes a processor and a memory, wherein: Memory for storing computer programs; The processor is used to execute the program stored in the memory to implement the above-mentioned vehicle control method.
[0027] A vehicle comprises the above-mentioned electronic device. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present application; Figure 2 yes Figure 1 A flow chart of step S101; Figure 3 yes Figure 2 A flow chart of step S202; Figure 4 yes Figure 3 A flow chart of step S302; Figure 5 yes Figure 4 A flow chart of step S402; Figure 6 yes Figure 5 A flow chart of step S503; Figure 7 yes Figure 6 A flow chart of step S602; Figure 8 yes Figure 6 Another flow chart of step S602; Figure 9 yes Figure 1 A flow chart of step S102; Figure 10 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0029] In order to make the technical problems, technical solutions and beneficial effects solved by this application more clearly understood, this application is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.
[0030] The embodiment of the present invention provides a vehicle control method, which is applicable to a vehicle-mounted controller. The vehicle-mounted controller here is a controller installed on the vehicle, which may be, but is not limited to, a vehicle controller. Figure 1 As shown, the vehicle control method includes: S101: During vehicle travel, a boundary configuration range corresponding to an electronic fence is determined based on preset vehicle model information. The electronic fence is a fence extending outward from the vehicle outline determined based on the preset vehicle model information to define an area that can be monitored by sensors. S102: Determine a target boundary corresponding to the electronic fence based on the boundary configuration range corresponding to the electronic fence; S103: Perform driving monitoring based on the target boundary corresponding to the electronic fence.
[0031] The preset vehicle model information refers to information corresponding to a pre-set 3D electronic model of the vehicle. The boundary configuration range corresponding to the electronic fence refers to the range corresponding to the boundary parameters used to configure the electronic fence. The target boundary corresponding to the electronic fence refers to the final boundary determined for vehicle monitoring.
[0032] As an example, in step S101, while the vehicle is in motion, the onboard controller analyzes and determines the vehicle's outline based on preset vehicle model information. Based on all the outlines, it draws a two-dimensional image corresponding to the vehicle's outline. Based on the two-dimensional image, it determines an area centered on the vehicle's outline and extending outwards that can be monitored by a sensor. Based on the inner and outer boundaries of this area, it determines the boundary configuration range for the electronic fence. The sensor here is a sensor installed on the vehicle and can be determined based on the preset vehicle model information. In this example, the boundary configuration range for the electronic fence is centered on the vehicle's outline so that the formed electronic fence follows the vehicle's movement. The boundary configuration range for the electronic fence is determined based on the area that the sensor can monitor to ensure that all target objects that intrude into the electronic fence are detected. This facilitates dynamic monitoring of all target objects that intrude into the electronic fence, centered on the vehicle. The target object is the object detected intruding into the electronic fence. This target object can be another vehicle, a pedestrian, an animal, or other object.
[0033] As an example, in step S102, after determining the boundary configuration range corresponding to the electronic fence, the onboard controller can output the boundary configuration range corresponding to the electronic fence to the display screen, allowing the user to independently adjust the displayed boundary configuration range to determine the target boundary corresponding to the electronic fence. Alternatively, a pre-set boundary determination strategy can be invoked to adaptively adjust the target boundary corresponding to the electronic fence based on the actual vehicle conditions to determine the target boundary corresponding to the electronic fence. In this example, the target boundary corresponding to the electronic fence must be determined within its corresponding boundary configuration range. This ensures that the determined target boundary follows the movement of the vehicle, enabling dynamic monitoring of all target objects that intrude into the electronic fence, and providing support for vehicle monitoring.
[0034] As an example, in step S103, after determining the target boundary corresponding to the electronic fence, the onboard controller can dynamically monitor all target objects that intrude from outside the target boundary into the target boundary. This effectively monitors all target objects that intrude into the specific area around the vehicle (i.e., the area defined by the target boundary) with the vehicle as the center. This vehicle-centric approach of monitoring all target objects that intrude into its target boundary not only ensures the driving safety of the vehicle itself, but also records the intrusion behavior of the target object, assisting in the identification of potential violations, promoting compliance with driving regulations for the vehicle and other vehicles, and improving driving safety.
[0035] In this embodiment, during vehicle driving, the boundary configuration range corresponding to the electronic fence is determined based on the preset vehicle model information, so that the formed electronic fence is centered on the vehicle outline and can follow the movement of the vehicle. Compared with the electronic fence determined based on a static object (such as a road), it can provide the driver with a safer driving space during vehicle driving; moreover, the area defined by the electronic fence can be monitored by the sensor to ensure the feasibility of driving monitoring based on the electronic fence; based on the boundary configuration range corresponding to the electronic fence, the target boundary corresponding to the electronic fence is determined, which can support dynamic updating of the target boundary of the electronic fence during vehicle driving to adapt to different user needs or different needs of the vehicle's environment; based on the target boundary corresponding to the electronic fence, driving monitoring is performed, and all target objects that invade the target boundary of the electronic fence are monitored in real time, which can effectively ensure driving safety.
[0036] In one embodiment, the preset vehicle model information includes vehicle profile information and sensor information; like Figure 2 As shown, step S101, i.e., determining the boundary configuration range corresponding to the electronic fence based on the preset car model information, includes: S201: Determine the starting point boundary corresponding to the electronic fence based on the vehicle profile information; S202: Determine the outer boundary of the electronic fence based on the sensor information; S202: Determine a boundary configuration range corresponding to the electronic fence based on a starting boundary corresponding to the electronic fence and an extended boundary corresponding to the electronic fence.
[0037] The vehicle contour information is information related to the vehicle contour, and includes information such as contour convex points and contour concave points.
[0038] Sensor information refers to information about sensors installed on the vehicle, including but not limited to the sensor's type, model, installation location, and monitoring range. For example, sensors installed on a vehicle may include but are not limited to cameras and radars.
[0039] The starting boundary of the electronic fence is the inner boundary formed by extending outward from the vehicle outline. The outer boundary of the electronic fence is the outer boundary formed by extending outward from the vehicle outline. As an example, in step S201, the on-board controller can determine the 3D model of the vehicle based on the preset vehicle model information, and project the top view of the 3D model onto the 2D display screen through a rendering engine or other means to obtain a two-dimensional image including the vehicle outline determined based on the vehicle outline information, and can control the display screen to display the two-dimensional image. Then, the on-board controller can determine the starting point boundary corresponding to the electronic fence based on the vehicle outline. In this example, the contour line formed by the vehicle outline can be directly determined as the starting point boundary corresponding to the electronic fence, or the contour line formed by the vehicle outline can be used as a reference and extended outward by the same distance to determine the starting point boundary corresponding to the electronic fence. In this example, based on the vehicle outline information, the starting point boundary corresponding to the electronic fence can be quickly and accurately determined on the 2D display screen to ensure the efficiency of determining the starting point boundary.
[0040] As an example, in step S202, the on-board controller can determine the sensor information based on the preset vehicle model information; based on the sensor information, determine the area that can be monitored by all sensors installed on the vehicle; and then determine the outer boundary corresponding to the electronic fence based on the area that can be monitored by all sensors, so as to ensure that the area defined by the outer boundary corresponding to the electronic fence can be monitored by the sensor, providing protection for the electronic fence to perform driving monitoring. In this example, the determination of the outer boundary of the electronic fence must ensure that the monitoring range of all sensors can cover 360° around the periphery of the vehicle contour, so as to ensure that the area defined by the outer boundary and the starting point boundary can be monitored by at least one sensor, thereby ensuring that intrusion events into this area can be monitored. The intrusion event here refers to the event formed by monitoring the target object entering the area defined by the starting point boundary and the outer boundary.
[0041] As an example, in step S203, the on-board controller can determine the boundary configuration range corresponding to the electronic fence based on the starting boundary corresponding to the electronic fence and the extended boundary corresponding to the electronic fence. Specifically, the annular area between the starting boundary corresponding to the electronic fence and the extended boundary corresponding to the electronic fence can be determined. The annular area will neither invade the vehicle outline nor leave the monitoring range of the sensor, thereby providing protection for driving monitoring by the electronic fence; then, based on the annular area, the boundary configuration range corresponding to the electronic fence is determined. The boundary configuration range here can be understood as the boundary range determined based on the annular area that can be configured by the user independently.
[0042] In this embodiment, based on the vehicle contour information, the starting point boundary corresponding to the electronic fence can be quickly and accurately determined to ensure the efficiency of determining the starting point boundary; based on the sensor information, it is ensured that the area defined by the outer extension boundary corresponding to the electronic fence can be monitored by the sensor, providing protection for the electronic fence to perform driving monitoring; based on the starting point boundary and the outer extension boundary, the boundary configuration range of the electronic fence is determined to limit the boundary range configured by the user, which helps to prevent the user-configured boundary from invading the vehicle contour or leaving the monitoring range of the sensor, thereby ensuring the effectiveness of the electronic fence.
[0043] In one embodiment, the sensor information includes installation locations and monitoring ranges corresponding to the plurality of sensors; like Figure 3 As shown, step S202, i.e., determining the outer boundary corresponding to the electronic fence based on the sensor information, includes: S301: Determine the monitoring area corresponding to each sensor based on the installation position and monitoring range corresponding to each sensor; S302: Determine the outer boundary corresponding to the electronic fence based on the monitoring areas corresponding to the multiple sensors.
[0044] The sensor's installation location refers to the location on the vehicle where the sensor is installed. The sensor's monitoring range refers to the maximum range the sensor can monitor. The monitoring range can be determined based on the monitoring angle and monitoring distance.
[0045] As an example, in step S301, the vehicle controller can determine the sensor information corresponding to all sensors installed on the vehicle based on the preset vehicle model information, and based on the installation position corresponding to the sensor information, project all sensors installed on the vehicle to the position corresponding to the vehicle outline. For example, if the preset vehicle model information records that a radar is deployed next to the left front headlight, then in the two-dimensional image corresponding to the vehicle outline, the position of the radar also needs to be set next to the left front headlight. Then, based on the monitoring range of the sensors corresponding to different positions, the corresponding monitoring area is determined. For example, if a radar is deployed next to the left front headlight, the radar's monitoring angle is 180°, and the monitoring distance is 100m, then the radar's installation position can be used as the center of the circle, with a radius of 100m, to form a fan-shaped area with an arc of 180°, and the fan-shaped area is determined as the monitoring area corresponding to the radar.
[0046] As an example, in step S302, the onboard controller can determine the outer boundary of the electronic fence based on the monitoring areas corresponding to multiple sensors, ensuring that the outer boundary covers 360° of the vehicle's periphery, allowing the area within the outer boundary to be monitored by the sensors, providing support for driving monitoring. In this example, based on the monitoring areas corresponding to multiple sensors, a union area of the multiple monitoring areas can be determined, ensuring that the union area can be monitored by at least one sensor; the union area can be directly determined as the outer boundary of the electronic fence, or the union area can be modified to determine the outer boundary of the electronic fence.
[0047] In this embodiment, based on the installation position and monitoring range corresponding to each sensor, the monitoring area corresponding to the sensor deployed on the vehicle is determined, and the monitoring area moves with the vehicle to ensure that intrusion events in the monitoring area can be monitored by the corresponding sensor; then, based on the monitoring areas corresponding to multiple sensors, the outer boundary corresponding to the electronic fence is determined, so that the area within the outer boundary can be monitored by at least one sensor, to ensure the feasibility of subsequent driving monitoring.
[0048] In one embodiment, if Figure 4 As shown, step S302, i.e., determining the outer boundary corresponding to the electronic fence based on the monitoring areas corresponding to the multiple sensors, includes: S401: determining a monitoring intersection point corresponding to two adjacent sensors based on monitoring areas corresponding to the two adjacent sensors; S402: Determine the outer boundary corresponding to the electronic fence based on all monitored intersections.
[0049] As an example, in step S401, after determining the monitoring area corresponding to each sensor, the onboard controller may determine the monitoring intersection corresponding to any two adjacent sensors based on the monitoring areas corresponding to the two adjacent sensors. This monitoring intersection is the location where the outermost edges of the two monitoring areas intersect. For example, if the two adjacent sensors are a radar and a camera, the outermost arc-shaped edge of the monitoring area corresponding to the radar and the outermost arc-shaped edge of the monitoring area corresponding to the camera may be determined, and the point where the two arc-shaped edges intersect is determined as the monitoring intersection corresponding to the two adjacent sensors.
[0050] As an example, in step S402, after determining the monitoring intersections corresponding to all two adjacent sensors, the onboard controller may determine the outer boundary of the electronic fence based on a curve formed by connecting all the monitoring intersections. For example, the onboard controller may directly connect all the monitoring intersections to form the outer boundary of the electronic fence, or may use a curve fitting algorithm to fit all the monitoring intersections to form a smoother outer boundary of the electronic fence.
[0051] In this embodiment, based on the monitoring areas corresponding to two adjacent sensors, the corresponding monitoring intersection is determined to ensure that the monitoring intersection can be monitored by the two adjacent sensors; then based on all the monitoring intersections, the outer boundary corresponding to the electronic fence is determined, so that the outer boundary is within the area defined by all the monitoring intersections to ensure that the area within the outer boundary can be monitored by at least one sensor, so as to ensure the feasibility of subsequent vehicle monitoring based on the electronic fence.
[0052] In one embodiment, if Figure 5 As shown, step S402, i.e., determining the outer boundary corresponding to the electronic fence based on all monitored intersections, includes: S501: Determine the intersection distance corresponding to each monitoring intersection point, where the intersection distance is the minimum distance from the monitoring intersection point to the starting point boundary corresponding to the electronic fence; S502: Determine the minimum value of the intersection distances corresponding to all monitored intersections as the boundary width of the electronic fence; S503: Determine the outer boundary of the electronic fence based on the starting boundary corresponding to the electronic fence and the boundary width corresponding to the electronic fence.
[0053] As an example, in step S501, after determining all monitored intersections, the onboard controller may calculate the minimum distance between each monitored intersection and the starting point boundary corresponding to the electronic fence, and determine this minimum distance as the intersection distance of the monitored intersection. Specifically, the onboard controller may calculate the distance between the monitored intersection and all starting points in the starting point boundary adjacent to the monitored intersection, determine the relative distance between the monitored intersection and each starting point, and determine the minimum value of all relative distances as the minimum distance between the monitored intersection and the starting point boundary corresponding to the electronic fence.
[0054] As an example, in step S502, after determining the intersection distances corresponding to all monitored intersections, the onboard controller may compare the intersection distances corresponding to all monitored intersections and determine the minimum value as the boundary width corresponding to the electronic fence.
[0055] As an example, in step S503, the on-board controller may extend outward based on the starting point boundary corresponding to the electronic fence, so that each starting point extends outward until its width reaches the boundary width corresponding to the electronic fence, so as to determine the extended boundary corresponding to the electronic fence, so that the extended boundary of the electronic fence matches the shape of the starting point boundary, and the relative distance of any position matches the boundary width.
[0056] In this embodiment, the corresponding extended boundary is determined based on the starting boundary and boundary width of the electronic fence, so that the extended boundary of the electronic fence can be matched with the shape of the starting boundary, so that the boundary configuration range formed by the two can match the contour shape of the vehicle, which is convenient for the user to adjust the boundary parameters independently; since the boundary width is the minimum value of the intersection distance corresponding to all monitoring intersections, the extended boundary determined based on the starting boundary and the boundary width is within the area enclosed by all monitoring intersections to ensure that the area within the extended boundary can be monitored by at least one sensor, so as to ensure the feasibility of subsequent vehicle monitoring based on the electronic fence.
[0057] In one embodiment, if Figure 6 As shown, step S503, i.e., determining the outer boundary of the electronic fence based on the starting boundary corresponding to the electronic fence and the boundary width corresponding to the electronic fence, includes: S601: Determine an initial boundary corresponding to the electronic fence based on a starting boundary corresponding to the electronic fence and a boundary width corresponding to the electronic fence; S602: Based on the measured vehicle data, the initial boundary corresponding to the electronic fence is corrected to determine the extended boundary corresponding to the electronic fence.
[0058] The measured vehicle data refers to vehicle data collected in real time, which is data that affects the determination of the boundary of the electronic fence, including but not limited to vehicle speed, location, video of the location, etc.
[0059] As an example, in step S601, the on-board controller may extend outward based on the starting point boundary corresponding to the electronic fence, so that each starting point extends outward until its width reaches the boundary width corresponding to the electronic fence, so as to determine the initial boundary corresponding to the electronic fence. The initial boundary can be understood as a boundary directly determined based on the starting point boundary and the boundary width.
[0060] As an example, in step S602, the on-board controller can obtain the measured vehicle data through the CAN bus or other communication methods, and then, based on the measured vehicle data, correct the initial boundary corresponding to the electronic fence, and determine the extended boundary corresponding to the electronic fence, so that the extended boundary is dynamically related to the measured vehicle data, so that the extended boundary corresponding to the electronic fence can be dynamically changed to adapt to the different needs of the environment in which the vehicle is located.
[0061] In this embodiment, the initial boundary of the electronic fence is determined based on the starting boundary and boundary width corresponding to the electronic fence. Because the boundary width is the minimum intersection distance corresponding to all monitoring intersections, the initial boundary is within the area enclosed by all monitoring intersections. This ensures that the area within the initial boundary can be monitored by at least one sensor, thereby ensuring the feasibility of subsequent vehicle monitoring based on the electronic fence. The initial boundary is modified based on measured vehicle data so that the determined extended boundary corresponding to the electronic fence can adapt to the different needs of the vehicle's environment.
[0062] In one embodiment, if Figure 7 As shown, step S602, based on the measured vehicle data, corrects the initial boundary corresponding to the electronic fence to determine the extended boundary corresponding to the electronic fence, including: S701: Determine a correction coefficient corresponding to the measured vehicle data based on a mapping relationship between the measured vehicle data and a preset coefficient; S702: Determine the outer boundary of the electronic fence based on the correction coefficient corresponding to the measured vehicle data and the initial boundary of the electronic fence.
[0063] Among them, the preset coefficient mapping relationship is a pre-set relationship used to characterize different vehicle data and their corresponding correction coefficients. Specifically, the preset coefficient mapping relationship pre-configures different vehicle data intervals and the correction coefficients corresponding to each vehicle data interval. The correction coefficient here can be greater than 1 or less than 1. When the correction coefficient is greater than 1, the initial boundary needs to be expanded; when the correction coefficient is less than 1, the initial boundary needs to be narrowed.
[0064] As an example, in step S701, after obtaining the measured vehicle data, the on-board controller can query the preset coefficient mapping relationship based on the measured vehicle data, determine the vehicle data interval to which the measured vehicle data belongs, and determine the correction coefficient corresponding to the vehicle data interval to which it belongs as the correction coefficient corresponding to the measured vehicle data.
[0065] As an example, in step S702, the onboard controller may modify the initial boundary of the electronic fence based on a correction coefficient corresponding to the measured vehicle data to determine the outer boundary of the electronic fence. For example, when the correction coefficient is greater than 1, the initial boundary of the electronic fence may be expanded to make the outer boundary larger than the initial boundary; when the correction coefficient is less than 1, the initial boundary of the electronic fence may be contracted to make the outer boundary smaller than the initial boundary.
[0066] In one example, the initial boundary is expanded or contracted, and the product of the correction coefficient and the boundary width corresponding to the electronic fence can be determined as the corrected boundary width, so as to determine the extended boundary corresponding to the electronic fence based on the starting boundary corresponding to the electronic fence and the corrected boundary width.
[0067] In another example, the initial boundary can be expanded or contracted to determine the abscissa and ordinate corresponding to each initial boundary point in the initial boundary. When the initial boundary extends only outward in the vehicle's transverse direction, the product of the abscissa corresponding to each initial boundary point and the correction coefficient can be used to determine the corrected abscissa corresponding to that initial boundary point. In this case, the ordinate remains unchanged, thereby determining the extended boundary point corresponding to that initial boundary point. When the initial boundary extends only outward in the vehicle's longitudinal direction, the product of the ordinate corresponding to each initial boundary point and the correction coefficient can be used to determine the corrected ordinate corresponding to that initial boundary point. In this case, the abscissa remains unchanged, thereby determining the extended boundary point corresponding to that initial boundary point. When the initial boundary extends both in the vehicle's transverse and longitudinal directions, for example, when the corresponding positions of the four corners of the vehicle's outline extend outward, the product of the abscissa corresponding to each initial boundary point and the correction coefficient can be used to determine the corrected abscissa corresponding to that initial boundary point. And the product of the ordinate corresponding to each initial boundary point and the correction coefficient can be used to determine the corrected ordinate corresponding to that initial boundary point. Finally, based on all the extension boundary points, the extension boundary corresponding to the electronic fence is determined.
[0068] In this embodiment, the preset coefficient mapping relationship is queried based on the measured vehicle data, and the corresponding correction coefficient can be quickly determined. Based on the correction coefficient, the initial boundary corresponding to the electronic fence is corrected so that the corrected outer boundary can adapt to the different needs of the vehicle's environment.
[0069] In one embodiment, if Figure 8 As shown, step S602, based on the measured vehicle data, corrects the initial boundary corresponding to the electronic fence to determine the extended boundary corresponding to the electronic fence, including: S801: Comparing the measured vehicle data with the boundary expansion condition and the boundary contraction condition; S802: If the measured vehicle data meets the boundary expansion condition, the initial boundary corresponding to the electronic fence is expanded to determine the extended boundary corresponding to the electronic fence; S803: If the measured vehicle data meets the boundary reduction condition, the initial boundary corresponding to the electronic fence is reduced to determine the extended boundary corresponding to the electronic fence; S804: If the measured vehicle data does not meet the boundary expansion condition and does not meet the boundary contraction condition, the initial boundary corresponding to the electronic fence is determined to be the extended boundary corresponding to the electronic fence.
[0070] The boundary expansion condition is a pre-set condition for evaluating whether to expand the boundary. As an example, the boundary expansion condition is a condition used to reflect that the environment in which the vehicle is located has a high requirement for the monitoring range.
[0071] The boundary shrinking condition is a pre-set condition for evaluating whether to shrink the boundary. As an example, the boundary expanding condition is a condition for reflecting that the environment in which the vehicle is located has a high requirement for monitoring accuracy.
[0072] As an example, in step S801, after obtaining the measured vehicle data, the on-board controller may compare the measured vehicle data with the preset boundary expansion conditions and boundary contraction conditions, and adopt different strategies to determine the extended boundary corresponding to the electronic fence based on the comparison results.
[0073] As an example, in step S802, when the measured vehicle data meets the boundary expansion condition, the onboard controller may determine that the vehicle's environment has high requirements for the sensor's monitoring range but low requirements for the sensor's monitoring accuracy. The controller may then expand the initial boundary of the electronic fence to determine the extended boundary of the electronic fence. For example, if the vehicle is in an open area or is traveling at high speed, the probability of an intrusion event is low, and the vehicle's environment requires an expanded monitoring range. Therefore, the boundary expansion condition is determined to be met.
[0074] As an example, in step S803, when the measured vehicle data meets the boundary reduction condition, the onboard controller may determine that the vehicle's environment requires high sensor monitoring accuracy but low sensor monitoring range. The controller may then reduce the initial boundary of the electronic fence to determine the extended boundary of the electronic fence. For example, in densely populated areas such as parking lots or congested roads, or when the vehicle is traveling at low speeds, the probability of an intrusion event is high, and the vehicle's environment requires ensuring monitoring accuracy. Therefore, the boundary reduction condition may be determined to be met.
[0075] As an example, in step S804, when the measured vehicle data neither meets the boundary expansion condition nor the boundary contraction condition, the on-board controller determines that the initial boundary corresponding to the electronic fence matches the environment in which the vehicle is located. Therefore, the initial boundary corresponding to the electronic fence can be directly determined as the extended boundary corresponding to the electronic fence.
[0076] In this embodiment, based on the comparison results of the measured vehicle data with the boundary expansion conditions and the boundary contraction conditions, it is evaluated whether the initial boundary needs to be expanded or contracted so that the outer boundary corresponding to the final determined electronic fence can adapt to the different needs of the vehicle's environment.
[0077] In one embodiment, if Figure 9 As shown, step S102, i.e., determining the target boundary corresponding to the electronic fence based on the boundary configuration range corresponding to the electronic fence, includes: S901: Controlling the display screen to display the boundary configuration range corresponding to the electronic fence, and waiting to receive a boundary adjustment request triggered by the user within a preset time period; S902: If a boundary adjustment request is received within a preset time period, determining a target boundary corresponding to the electronic fence using an adjustment boundary corresponding to the boundary adjustment request, wherein the adjustment boundary is determined based on a boundary configuration range; S903: If no boundary adjustment request is received within the preset time period, a target boundary corresponding to the electronic fence is determined based on the boundary configuration range corresponding to the electronic fence.
[0078] The preset time period is a pre-set time period. The boundary adjustment request is a request triggered by a user to adjust the boundary of the electronic fence.
[0079] As an example, in step S901, after determining the boundary configuration range corresponding to the electronic fence, the onboard controller may control a display screen installed on the vehicle to display the boundary configuration range corresponding to the electronic fence in real time. The boundary configuration range is determined based on the starting boundary and the extended boundary of the electronic fence, so that the user can independently adjust the boundary of the electronic fence within the boundary configuration range. After controlling the display screen to display the boundary configuration range corresponding to the electronic fence, the onboard controller begins timing and waits for a boundary adjustment request triggered by the user within a preset time period. The user independently determines whether to trigger the boundary adjustment request. If triggered, the adjustment boundary set by the user within the boundary configuration range will be collected. The adjustment boundary can be a boundary manually drawn by the user within the displayed boundary configuration range.
[0080] As an example, in step S902, upon receiving a boundary adjustment request within a preset time period, the onboard controller may parse and read the adjustment boundary corresponding to the boundary adjustment request and directly determine the adjustment boundary as the target boundary corresponding to the electronic fence. The adjustment boundary is determined based on the boundary configuration range, ensuring that the adjustment boundary is within the corresponding boundary configuration range and that the area determined by the adjustment boundary can be monitored by at least one sensor, thereby ensuring the feasibility of subsequent vehicle monitoring based on the electronic fence. Furthermore, the adjustment boundary is user-defined, making it more adaptable to different user needs.
[0081] As an example, in step S903, when the on-board controller does not receive a boundary adjustment request within the preset time period, it means that the user has not performed a boundary adjustment operation within the preset time period. At this time, the initial boundary corresponding to the electronic fence can be directly determined as the target boundary corresponding to the electronic fence.
[0082] In this embodiment, when a boundary adjustment request is received during a preset time period, the target boundary corresponding to the electronic fence is determined based on the adjustment boundary independently set by the user within the boundary configuration range to adapt to the different needs of the user, and the area corresponding to the target boundary can be monitored by at least one sensor, thereby ensuring the feasibility of driving monitoring; when no boundary adjustment request is received during the preset time period, the boundary configuration range can be directly determined as the target boundary corresponding to the electronic fence, and the area corresponding to the target boundary can be monitored by at least one sensor, thereby ensuring the feasibility of driving monitoring.
[0083] In one embodiment, step S103, i.e., performing vehicle monitoring based on the target boundary corresponding to the electronic fence, includes: If the fence intrusion time is greater than the preset time threshold, an alarm operation will be executed; The fence intrusion time is the duration that the sensor detects that the target object intrudes into the target boundary corresponding to the electronic fence.
[0084] Among them, the preset time threshold is a pre-set time threshold, which can be the safety response time for the driver's intrusion into different target objects identified in advance by sensors and software algorithms. The safety response time depends on the driver's evasive action reaction execution time and can be determined by a training algorithm.
[0085] As an example, during the driving process of the vehicle, the on-board controller controls the operation of the sensors and collects the measured vehicle data around the vehicle in real time. The measured vehicle data needs to be detected to determine whether there is a target object invading the target boundary of the electronic fence; if a target object intrudes into the target boundary of the electronic fence, it is necessary to monitor the duration of the target object invading the target boundary corresponding to the electronic fence, and determine the duration as the fence intrusion time; then, the fence intrusion time is compared with the preset time threshold; if the fence intrusion time is greater than the preset time threshold, it is determined that the target object has invaded the target boundary corresponding to the electronic fence for a long time, and there is a high probability that it will collide with the vehicle, so an alarm operation needs to be performed; if the fence intrusion time is not greater than the preset time threshold, it is determined that the target object has invaded the target boundary corresponding to the electronic fence for a short time, and the probability of it colliding with the vehicle is small, so there is no need to perform an alarm operation.
[0086] In this embodiment, the duration of the target object being monitored to intrude into the target boundary corresponding to the electronic fence is determined as the fence intrusion time. When the fence intrusion time is greater than the preset time threshold, it is determined that there is a high probability of a collision between the target object and the vehicle. Therefore, an alarm operation needs to be performed to ensure driving safety.
[0087] In one embodiment, step S103, i.e., performing vehicle monitoring based on the target boundary corresponding to the electronic fence, includes: Collect and store intrusion surveillance video corresponding to the fence intrusion time; The fence intrusion time is the duration that the sensor detects that the target object intrudes into the target boundary corresponding to the electronic fence.
[0088] As an example, while the vehicle is in motion, the onboard controller controls the operation of sensors to collect real-time data about vehicles around the vehicle. This data needs to be subjected to target detection to determine whether a target object has intruded into the target boundary of the electronic fence. If a target object has intruded into the target boundary of the electronic fence, an intrusion monitoring video corresponding to the fence intrusion time needs to be collected and saved to assist in determining whether there is a potential violation. For example, the camera can be controlled to start recording when the target object enters the target boundary and stop recording when the target object leaves the target boundary to collect the intrusion monitoring video corresponding to the fence intrusion time. This intrusion monitoring video can then be used to assist in determining whether there is a potential violation.
[0089] In this example, in addition to storing the intrusion monitoring video, the electronic fence information corresponding to the intrusion monitoring video can also be stored synchronously. The electronic fence information contains relevant information of the corresponding target boundary, so as to assist in determining the monitoring range of the intrusion monitoring video based on the electronic fence information. The electronic fence information can cover a large range and a long time, and the information positioning is easier, which can assist in better judging potential illegal incidents affecting driving.
[0090] The embodiment of the present application further provides an electronic device 100, such as Figure 10 As shown, the electronic device 100 includes a memory 101 and a processor 102, wherein the memory 101 is used to store computer programs; the processor 102 is used to execute the programs stored in the memory 101 to implement the vehicle control method described in any embodiment of the present application. For example, the electronic device 100 can be the vehicle controller in the above embodiment.
[0091] An embodiment of the present application further provides a vehicle, which includes the electronic device in the above embodiment.
[0092] In this application, a plurality refers to two or more.
[0093] In this application, unless otherwise expressly defined, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. A person of ordinary skill in the art will understand the specific meanings of these terms in this application.
[0094] The terms "first," "second," "third," "fourth," etc. (if any) in this application are used to distinguish similar objects and are not necessarily used to describe a particular sequential order.
[0095] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects are in an "or" relationship.
[0096] Unless otherwise specified, all steps of this application may be performed sequentially or randomly. For example, "the method includes steps A and B" means that the method may include steps A and B performed sequentially, or may include steps B and A performed sequentially. For example, "the method may also include step C" means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or steps A, C, and B, or steps C, A, and B, etc.
[0097] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.
Claims
1. A vehicle control method, characterized in that: include: During vehicle travel, the boundary configuration range corresponding to the electronic fence is determined based on the preset vehicle model information. The electronic fence is a fence that extends outward from the vehicle outline determined based on the preset vehicle model information to define the area that can be monitored by the sensor; Determining a target boundary corresponding to the electronic fence based on a boundary configuration range corresponding to the electronic fence; Driving monitoring is performed based on the target boundary corresponding to the electronic fence.
2. The vehicle control method according to claim 1, characterized in that: The preset vehicle model information includes vehicle profile information and sensor information; The step of determining the boundary configuration range corresponding to the electronic fence based on the preset vehicle model information includes: Determining a starting point boundary corresponding to the electronic fence based on the vehicle profile information; Determining an outer boundary corresponding to the electronic fence based on the sensor information; Based on the starting point boundary corresponding to the electronic fence and the extension boundary corresponding to the electronic fence, a boundary configuration range corresponding to the electronic fence is determined.
3. The vehicle control method according to claim 2, characterized in that: The sensor information includes the installation locations and monitoring ranges corresponding to the multiple sensors; The determining, based on the sensor information, an outer boundary corresponding to the electronic fence includes: Determine the monitoring area corresponding to each sensor based on the installation position and monitoring range corresponding to each sensor; Based on the monitoring areas corresponding to the multiple sensors, the outer boundary corresponding to the electronic fence is determined.
4. The vehicle control method according to claim 3, characterized in that: The determining of the outer boundary corresponding to the electronic fence based on the monitoring areas corresponding to the multiple sensors includes: Determining a monitoring intersection point corresponding to two adjacent sensors based on monitoring areas corresponding to the two adjacent sensors; Based on all the monitored intersections, an outer boundary corresponding to the electronic fence is determined.
5. The vehicle control method according to claim 4, characterized in that: The step of determining the outer boundary corresponding to the electronic fence based on all the monitored intersections includes: Determine an intersection distance corresponding to each of the monitoring intersections, where the intersection distance is the minimum distance from the monitoring intersection to the starting point boundary corresponding to the electronic fence; The minimum value of the intersection distances corresponding to all the monitoring intersections is determined as the boundary width of the electronic fence; An outer extension boundary of the electronic fence is determined based on a starting point boundary corresponding to the electronic fence and a boundary width corresponding to the electronic fence.
6. The vehicle control method according to claim 5, characterized in that: The determining the outer boundary of the electronic fence based on the starting boundary corresponding to the electronic fence and the boundary width corresponding to the electronic fence includes: Determining an initial boundary corresponding to the electronic fence based on a starting boundary corresponding to the electronic fence and a boundary width corresponding to the electronic fence; Based on the measured vehicle data, the initial boundary corresponding to the electronic fence is corrected to determine the extended boundary corresponding to the electronic fence.
7. The vehicle control method according to claim 6, characterized in that: The step of correcting the initial boundary corresponding to the electronic fence based on the measured vehicle data to determine the outer boundary corresponding to the electronic fence includes: Determining a correction coefficient corresponding to the measured vehicle data based on a mapping relationship between the measured vehicle data and a preset coefficient; Based on the correction coefficient corresponding to the measured vehicle data and the initial boundary corresponding to the electronic fence, the outer boundary corresponding to the electronic fence is determined.
8. The vehicle control method according to claim 6, characterized in that: The step of correcting the initial boundary corresponding to the electronic fence based on the measured vehicle data to determine the outer boundary corresponding to the electronic fence includes: comparing the measured vehicle data with a boundary expansion condition and a boundary contraction condition; If the measured vehicle data satisfies the boundary expansion condition, the initial boundary corresponding to the electronic fence is expanded to determine the extended boundary corresponding to the electronic fence; If the measured vehicle data meets the boundary reduction condition, the initial boundary corresponding to the electronic fence is reduced to determine the outer boundary corresponding to the electronic fence; If the measured vehicle data does not satisfy the boundary expansion condition and does not satisfy the boundary contraction condition, the initial boundary corresponding to the electronic fence is used to determine the extended boundary corresponding to the electronic fence.
9. The vehicle control method according to claim 1, characterized in that: The determining the target boundary corresponding to the electronic fence based on the boundary configuration range corresponding to the electronic fence includes: Controlling the display screen to display the boundary configuration range corresponding to the electronic fence, and waiting to receive a boundary adjustment request triggered by the user within a preset time period; If the boundary adjustment request is received within a preset time period, determining the target boundary corresponding to the electronic fence by using the adjustment boundary corresponding to the boundary adjustment request, wherein the adjustment boundary is determined based on the boundary configuration range; If the boundary adjustment request is not received within a preset time period, a target boundary corresponding to the electronic fence is determined based on the boundary configuration range corresponding to the electronic fence.
10. The vehicle control method according to claim 1, wherein: The vehicle monitoring based on the target boundary corresponding to the electronic fence includes: If the fence intrusion time is greater than the preset time threshold, an alarm operation will be executed; The fence intrusion time is the duration that the sensor detects that the target object intrudes into the target boundary corresponding to the electronic fence.
11. The vehicle control method according to claim 1, wherein: The vehicle monitoring based on the target boundary corresponding to the electronic fence includes: Collect and store intrusion surveillance video corresponding to the fence intrusion time; The fence intrusion time is the duration that the sensor detects that the target object intrudes into the target boundary corresponding to the electronic fence.
12. An electronic device, characterized in that: comprising a processor and a memory, wherein, Memory for storing computer programs; A processor is used to execute the program stored in the memory to implement the vehicle control method described in any one of claims 1-11.
13. A vehicle, characterized in that: The electronic device comprising claim 12.