Vehicle control method and apparatus

Abstract

The application discloses a vehicle control method and device, and belongs to the field of automobile control. The method comprises the following steps: if a vehicle is driving at night, automatically turning on the high beam of the vehicle; when the vehicle reaches a target intersection, judging whether there is a pedestrian crosswalk line at the target intersection, if yes, controlling the vehicle light to perform high beam and low beam alternation for a preset number of times; judging whether there is at least one of a first moving object crossing the target intersection and a second moving object on the vertical lane of the lane where the vehicle is located around the target intersection, if yes, judging whether there is a collision risk between the vehicle and the first moving object and the second moving object; if there is a collision risk, controlling the speed and the vehicle light of the vehicle, which can perform safety warning and safety guarantee on the pedestrians or non-motor vehicles waiting at or crossing the intersection, and perform safety warning between the intersection meeting vehicles, thereby improving the safety of night automatic driving and effectively reducing the accident rate.

Description

Technical Field

[0001] This application relates to the field of automotive control, and in particular to a vehicle control method and apparatus. Background Technology

[0002] With the continuous advancement of technology, autonomous driving technology has developed, providing great convenience for people's travel. However, when cars are driving at night, especially on roads without streetlights or where streetlights are obscured by greenery, pedestrians or non-motorized vehicles crossing the road frequently cause traffic accidents involving collisions between motor vehicles and pedestrians or non-motorized vehicles, resulting in loss of life and property. Furthermore, on some roads with median strips, especially at intersections where vehicles are meeting each other, rushing through the intersection without slowing down during the 3-second yellow light can easily lead to collisions between vehicles in perpendicular lanes.

[0003] Therefore, improving nighttime driving safety has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a vehicle control method and apparatus that can improve nighttime driving safety and reduce the likelihood of traffic accidents. The technical solution is as follows:

[0005] On the one hand, a vehicle control method is provided, the method comprising:

[0006] Determine whether the vehicle is driving at night;

[0007] If the vehicle is being driven at night, then the vehicle's automatic headlights will be turned on;

[0008] When the vehicle arrives at the target intersection, it is determined whether there is a pedestrian crossing at the target intersection. If so, the vehicle's headlights are controlled to alternate between high and low beams a preset number of times.

[0009] Determine whether there are movable target obstacles around the target intersection, wherein the target obstacles include at least one of: a first moving object that crosses the target intersection and a second moving object in the lane perpendicular to the lane where the vehicle is located;

[0010] If the target obstacle exists, determine whether there is a risk of collision between the vehicle and the target obstacle;

[0011] If there is a risk of collision, the speed of the vehicle will be controlled.

[0012] Optionally, if the target obstacle includes a first moving object crossing the target intersection, determining whether there is a collision risk between the vehicle and the target obstacle includes:

[0013] Determine the actual distance between the first moving object and the vehicle, and the vehicle's speed;

[0014] The braking distance of the vehicle is determined based on the driving speed;

[0015] If the braking distance is greater than the actual distance, it is determined that there is a risk of collision between the vehicle and the first moving object.

[0016] Optionally, before determining whether there are movable target obstacles around the target intersection, the method further includes:

[0017] Determine whether there is a pedestrian crossing at the intersection. If so, control the vehicle's headlights to alternate between high and low beams a preset number of times.

[0018] Optionally, if the target obstacle includes the second moving object, determining whether there is a collision risk between the vehicle and the target obstacle includes:

[0019] Determine the status information of the traffic lights at the intersection;

[0020] If the status information is green, then determine whether the second moving object is rapidly approaching the vehicle.

[0021] If so, then it is determined that there is a collision risk between the vehicle and the second moving object.

[0022] Optionally, determining the status information of the traffic lights at the intersection includes:

[0023] The system acquires image information of the intersection captured by a camera and status indication information of the traffic lights at the intersection acquired by the vehicle's navigation system; and determines the status information of the traffic lights based on at least one of the image information and the status indication information.

[0024] Optionally, determining the status information of the traffic light based on at least one of the image information and the status indication information includes:

[0025] Based on the image information, the status information of the traffic lights at the intersection is determined as the first status information;

[0026] Based on the status indication information, the status information of the traffic lights at the intersection is determined to be the second status information;

[0027] If the first state information is different from the second state information, then the first state information shall be used as the state information of the traffic light.

[0028] Optionally, determining whether the second moving object is rapidly approaching the vehicle includes:

[0029] Determine whether the speed of the second moving object is greater than a preset speed, where the preset speed is the maximum speed limit of the lane where the second moving object is located;

[0030] If so, then it is determined that the second moving object is rapidly approaching the vehicle.

[0031] On the other hand, a vehicle control device is provided, the device comprising:

[0032] The first judgment module is used to determine whether the vehicle is driving at night; if the vehicle is driving at night, the automatic headlights of the vehicle are turned on.

[0033] The second judgment module is used to determine whether there is a pedestrian crossing at the target intersection when the vehicle arrives at the target intersection. If so, the module controls the vehicle's headlights to alternate between high and low beams a preset number of times.

[0034] The third judgment module is used to determine whether there are movable target obstacles around the target intersection. The target obstacles include at least one of a first moving object that passes through the target intersection and a second moving object in the perpendicular lane of the lane where the vehicle is located.

[0035] The fourth judgment module is used to determine whether there is a risk of collision between the vehicle and the target obstacle if the target obstacle exists.

[0036] The control module is used to control the speed of the vehicle if there is a risk of collision.

[0037] Optionally, the fourth determination module includes:

[0038] The first determining submodule is used to determine the actual distance between the first moving object and the vehicle and the vehicle's speed if the target obstacle includes a first moving object that passes through the target intersection.

[0039] The second determining submodule is used to determine the braking distance of the vehicle based on the driving speed;

[0040] The third determining submodule is used to determine, when the braking distance is greater than the actual distance, that there is a risk of collision between the vehicle and the first moving object.

[0041] Optionally, the fourth determination module includes:

[0042] The fourth determining submodule is used to determine the status information of the traffic lights at the intersection if the target obstacle includes the second moving object;

[0043] The fifth determining submodule is used to determine whether the second moving object is rapidly approaching the vehicle if the status information is green.

[0044] The sixth determining submodule is used to determine, if yes, that there is a collision risk between the vehicle and the second moving object.

[0045] Optional, the fourth determination submodule includes:

[0046] The first acquisition unit is used to acquire image information of the intersection captured by the camera and status indication information of the traffic lights at the intersection acquired based on the vehicle's navigation system.

[0047] The first determining unit is configured to determine the status information of the traffic light based on at least one of the image information and the status indication information.

[0048] Optionally, the first determining unit is configured to:

[0049] Based on the image information, the status information of the traffic lights at the intersection is determined as the first status information;

[0050] Based on the status indication information, the status information of the traffic lights at the intersection is determined to be the second status information;

[0051] If the first state information is different from the second state information, then the first state information shall be used as the state information of the traffic light.

[0052] Optionally, the fifth determining submodule includes:

[0053] The first judgment unit is used to determine whether the speed of the second moving object is greater than a preset speed, wherein the preset speed is the maximum speed limit of the lane where the second moving object is located.

[0054] If the second determining unit is yes, then it determines that the second moving object is rapidly approaching the vehicle.

[0055] On the other hand, a vehicle is provided, the vehicle including a memory and a processor, the memory for storing a computer program, and the processor for executing the computer program stored in the memory to implement the steps of the vehicle control method described above.

[0056] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the vehicle control method described above.

[0057] On the other hand, a computer program product containing instructions is provided, which, when executed on a computer, cause the computer to perform the steps of the vehicle control method described above.

[0058] The technical solutions provided in this application can bring at least the following beneficial effects:

[0059] In this embodiment, if the vehicle is driving at night, the automatic headlights are turned on. When the vehicle reaches the target intersection, it is determined whether there is a pedestrian crossing. If so, the vehicle's headlights are controlled to alternate between high and low beams a preset number of times. It is determined whether there is at least one of a first moving object crossing the target intersection and a second moving object in the perpendicular lane of the vehicle's lane. If so, it is determined whether there is a collision risk between the vehicle and the first and second moving objects. If there is a collision risk, the vehicle's speed is controlled. This provides safety warnings and protection for pedestrians or non-motorized vehicles waiting or crossing the intersection, as well as safety warnings between vehicles meeting at the intersection, thereby improving the safety of nighttime autonomous driving and effectively reducing the accident rate. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of this application;

[0062] Figure 2 This is a flowchart of a method for determining whether there is a collision risk between a vehicle and a movable obstacle, provided in an embodiment of this application.

[0063] Figure 3 This is a flowchart of another method for determining whether there is a collision risk between a vehicle and a movable obstacle, provided in an embodiment of this application;

[0064] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0066] Figure 1This is a flowchart of another vehicle control method provided in an embodiment of this application, which is applied to the vehicle controller. Figure 1 As shown, the method includes the following steps.

[0067] Step 101: Determine whether the vehicle is driving at night.

[0068] In this embodiment, a photosensor is installed on the vehicle, located in the center of the dashboard below the windshield, to detect ambient light intensity. The ambient light intensity collected by the photosensor is obtained; if the intensity is below a set threshold, the vehicle is determined to be driving at night; otherwise, it is determined to be driving during the day.

[0069] If the vehicle is traveling at night, proceed to step 102; otherwise, end the process.

[0070] Step 102: Turn on the vehicle's automatic headlights.

[0071] In another embodiment of this application, the vehicle's automatic headlights will be turned off when the ambient light intensity is not lower than a set threshold.

[0072] It should be noted that the vehicle's automatic headlights are triggered to turn on or off based on the ambient light intensity. By turning on the headlights, the light intensity of the surrounding environment is increased to ensure driving safety.

[0073] Step 103: When the vehicle arrives at the target intersection, determine whether there is a pedestrian crossing around the target intersection. If yes, proceed to step 104; otherwise, end the process.

[0074] In this embodiment of the application, the intersection of the road is identified by the image information collected by the camera, and the intersection is used as the target intersection where the vehicle is located.

[0075] In this embodiment of the application, the camera can capture images of the road in front of and around the vehicle, thereby determining whether a pedestrian crossing exists through the road images.

[0076] Step 104: If a pedestrian crossing is present, control the vehicle's headlights to alternate between high and low beams a preset number of times.

[0077] In this embodiment, the preset number of times can be set according to actual conditions; for example, the preset number of times can be twice. Controlling the vehicle's headlights to alternate between high and low beams a preset number of times is to serve as a safety warning at pedestrian crossings.

[0078] Step 105: Determine if there are any movable obstacles around the target intersection. If yes, proceed to step 106; otherwise, end the process.

[0079] It's worth noting that the vehicle is equipped with cameras, LiDAR, and millimeter-wave radar. The cameras acquire real-time images of the vehicle's surroundings, using this information to identify traffic signs, traffic lights, lane markings, pedestrians, and other vehicles. The cameras can also detect brake light signals from nearby vehicles. Millimeter-wave radar detects the distance and speed between objects in the surrounding environment and the vehicle. LiDAR generates a 3D map of the vehicle's surroundings, providing the shape and outline of obstacles such as pedestrians, bicycles, or roadside obstacles. Through the combined use of cameras, LiDAR, and millimeter-wave radar, the vehicle can gain a more comprehensive understanding of its surroundings.

[0080] In this embodiment of the application, the detection of movable target obstacles at the target intersection is used to determine whether there are pedestrians, animals or non-motorized vehicles crossing the road, or vehicles in the vertical lane passing through the intersection without slowing down.

[0081] In this embodiment, the target obstacle includes at least one of a first moving object crossing the target intersection and a second moving object in a lane perpendicular to the vehicle's lane. Crossing the target intersection means crossing the target intersection in a direction perpendicular to the vehicle's travel direction. The first moving object includes at least one of pedestrians, animals, and non-motorized vehicles. The second moving object may include vehicles.

[0082] Step 106: Determine if there is a risk of collision between the vehicle and the target obstacle. If yes, proceed to step 107; otherwise, end the process.

[0083] It should be noted that the methods for determining whether there is a collision risk vary depending on the target obstacle. The different situations will be introduced below.

[0084] like Figure 2 As shown, if the target obstacle includes a first moving object crossing the target intersection, determining whether there is a collision risk between the vehicle and the movable obstacle includes the following steps 1061-1063.

[0085] Step 1061: Determine the actual distance between the first moving object and the vehicle and the vehicle's speed.

[0086] In this embodiment of the application, the vehicle's driving speed and the actual distance between the vehicle and the first moving object detected by the millimeter-wave radar are obtained.

[0087] Step 1062: Determine the vehicle's braking distance based on the driving speed.

[0088] In this embodiment of the application, a correspondence table between braking distance and driving speed is preset, and the corresponding braking distance is found from the correspondence table based on the driving speed.

[0089] It should be noted that this braking distance is the sliding distance under maximum braking force. It can be understood as the distance the vehicle will slide under maximum braking force if the vehicle is traveling at its current speed.

[0090] Step 1063: If the braking distance is greater than the actual distance, determine that there is a risk of collision between the vehicle and the first moving object.

[0091] In this embodiment of the application, if the braking distance is not greater than the actual distance, it is determined that there is no risk of collision between the vehicle and the first moving object.

[0092] like Figure 3 As shown, if the target obstacle includes a second moving object, determining whether there is a collision risk between the vehicle and the movable obstacle includes the following steps 1064-1066.

[0093] Step 1064: Determine the status information of the traffic lights at the intersection.

[0094] Status information includes: red light, green light, and yellow light.

[0095] In this embodiment of the application, determining the status information of traffic lights at an intersection includes: acquiring image information of the intersection captured by a camera and status indication information of the traffic lights at the intersection acquired by a vehicle navigation system; determining the status information of the traffic lights based on at least one of the image information and the status indication information, wherein the status indication information includes the current red and green light status.

[0096] In this embodiment, if the vehicle's navigation is not activated, the traffic light status information is determined by the image information of the intersection captured by the camera. If the vehicle's navigation system is activated, the traffic light status information can be determined based on the image information and the traffic light status indication information of the intersection obtained by the vehicle's navigation system.

[0097] In embodiments of this application, determining the state information of a traffic light based on at least one of image information and state indication information includes: determining the state information of the traffic light at the intersection as first state information based on the image information; determining the state information of the traffic light at the intersection as second state information based on the state indication information; and if the first state information is different from the second state information, then the first state information is used as the state information of the traffic light.

[0098] In this embodiment of the application, the priority of image information is higher than the status indication information obtained by the navigation system. If the status information of the traffic lights determined based on the image information is inconsistent with the status indication information of the traffic lights at the intersection obtained by the vehicle-based navigation system, the status information of the traffic lights determined based on the image information is taken as the current status information.

[0099] It should be noted that the vehicle's position is first determined by the vehicle's positioning sensors. Then, the navigation system obtains the driving status of vehicles in front of or behind the vehicle at the intersection. Based on the driving status of vehicles in front of or behind the vehicle at the intersection, the traffic light status is determined. For example, if there are 5 vehicles passing through the intersection and the 6th vehicle's displacement is zero, then the traffic light status is determined to be red.

[0100] The navigation system also locates the vehicle's position and requests the traffic light status information of the intersection from the city's traffic management system via a data communication network. It then displays a countdown and traffic light status information in the navigation system, thereby enabling it to obtain the traffic light status indication information of the intersection from the vehicle-based navigation system.

[0101] Step 1065: If the status information is green, determine whether the second moving object is rapidly approaching the vehicle. If yes, proceed to step 1066; otherwise, end the process.

[0102] In this embodiment of the application, determining whether the second moving object is rapidly approaching the vehicle includes: determining whether the speed of the second moving object is greater than a preset speed, where the preset speed is the maximum speed limit of the lane where the second moving object is located; if so, then determining whether the second moving object is rapidly approaching the vehicle.

[0103] It should be noted that determining whether the speed of the second moving object is greater than the preset speed can be done when the object is a certain distance away from the vehicle.

[0104] Step 1066: Determine that there is a collision risk between the vehicle and the second moving object.

[0105] Step 107: If there is a risk of collision, control the vehicle's speed.

[0106] In this embodiment, the vehicle is controlled to decelerate in order to achieve emergency braking and stopping.

[0107] In this embodiment, if the vehicle is driving at night, the headlights are turned on. When the vehicle reaches the target intersection, cameras, lidar, and millimeter-wave radar are used to identify the pedestrian crossing and whether there are pedestrians on it. If a pedestrian crossing is present at the intersection, the headlights automatically alternate between high and low beams to provide a safety warning. This avoids traffic accidents involving collisions between motor vehicles and pedestrians or non-motorized vehicles when pedestrians or non-motorized vehicles cross the road in areas without streetlights or where streetlights are obscured by vegetation. The system also determines whether there are movable obstacles around the target intersection. If obstacles exist, it assesses whether there is a collision risk between the vehicle and the obstacle. If a collision risk exists, the vehicle speed is controlled.

[0108] This prevents collisions between vehicles in perpendicular lanes when meeting at intersections, thus improving the safety of nighttime autonomous driving and effectively reducing the accident rate.

[0109] Figure 4 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. The vehicle control device can be implemented as part or all of a vehicle by software, hardware, or a combination of both. Please refer to... Figure 4 The device includes: a first judgment module 401, a second judgment module 402, a third judgment module 403, a third judgment module 404, and a control module 405.

[0110] The first judgment module 401 is used to determine whether the vehicle is driving at night; if the vehicle is driving at night, the vehicle's automatic headlights are turned on.

[0111] The second judgment module 402 is used to determine whether there is a pedestrian crossing at the target intersection when the vehicle arrives at the target intersection. If so, it controls the vehicle's headlights to alternate between high and low beams a preset number of times.

[0112] The third judgment module 403 is used to determine whether there are movable target obstacles around the target intersection. The target obstacles include at least one of the following: a first moving object that crosses the target intersection and a second moving object on the vertical lane of the lane where the vehicle is located.

[0113] The fourth judgment module 404 is used to determine whether there is a risk of collision between the vehicle and the target obstacle if the target obstacle exists.

[0114] The control module 405 is used to control the speed of the vehicle if there is a risk of collision.

[0115] Optionally, the fourth judgment module 404 includes:

[0116] The first determination submodule is used to determine the actual distance between the first moving object and the vehicle and the vehicle's speed if the target obstacle includes a first moving object that crosses the target intersection.

[0117] The second determining submodule is used to determine the vehicle's braking distance based on the driving speed;

[0118] The third determination submodule is used to determine the risk of collision between the vehicle and the first moving object when the braking distance is greater than the actual distance.

[0119] Optionally, the fourth judgment module 404 includes:

[0120] The fourth determination submodule is used to determine the status information of the traffic lights at the intersection if the target obstacle includes the second moving object;

[0121] The fifth determination submodule is used to determine whether the second moving object is rapidly approaching the vehicle if the status information is green.

[0122] The sixth determination submodule is used to determine, if yes, that there is a collision risk between the vehicle and the second moving object.

[0123] Optional, the fourth determination submodule includes:

[0124] The first acquisition unit is used to acquire image information of the intersection captured by the camera and status indication information of the traffic lights at the intersection acquired by the vehicle-based navigation system.

[0125] The first determining unit is used to determine the status information of the traffic light based on at least one of image information and status indication information.

[0126] Optionally, the first determining unit is used for:

[0127] Based on image information, the status information of the traffic lights at the intersection is determined as the first status information;

[0128] Based on the status indication information, the status information of the traffic lights at the intersection is determined as the second status information;

[0129] If the first state information is different from the second state information, then the first state information shall be used as the state information of the traffic light.

[0130] Optional, the fifth determining submodule includes:

[0131] The first judgment unit is used to determine whether the speed of the second moving object is greater than the preset speed, where the preset speed is the maximum speed limit of the lane where the second moving object is located.

[0132] If the second determining unit is yes, then it determines that the second moving object is rapidly approaching the vehicle.

[0133] In this embodiment, if the vehicle is driving at night, the headlights are turned on. When the vehicle reaches the target intersection, it is determined whether there is a pedestrian crossing. If so, the vehicle's headlights are controlled to alternate between high and low beams a preset number of times. If there are movable obstacles around the target intersection, it is determined whether there is a collision risk between the vehicle and the movable obstacles. If there is a collision risk, the vehicle's speed is controlled. This provides safety warnings and protection for pedestrians or non-motorized vehicles waiting or crossing the intersection, as well as safety warnings for vehicles meeting at the intersection, thereby improving the safety of nighttime autonomous driving and effectively reducing the accident rate.

[0134] It should be noted that the vehicle control device provided in the above embodiments is only illustrated by the division of the above functional modules when performing vehicle control. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device and the vehicle control method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0135] On the other hand, a vehicle is provided, the vehicle including a memory and a processor, the memory for storing a computer program, and the processor for executing the computer program stored in the memory to implement the steps of the vehicle control method described above.

[0136] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the vehicle control method described above.

[0137] On the other hand, a computer program product containing instructions is provided, which, when executed on a computer, cause the computer to perform the steps of the vehicle control method described above.

[0138] The above descriptions are embodiments provided in this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: Determine whether the vehicle is driving at night; If the vehicle is being driven at night, then the vehicle's automatic headlights will be turned on; When the vehicle arrives at the target intersection, it is determined whether there is a pedestrian crossing at the target intersection. If so, the vehicle's headlights are controlled to alternate between high and low beams a preset number of times. Determine whether there are movable target obstacles around the target intersection, wherein the target obstacles include at least one of: a first moving object that crosses the target intersection and a second moving object in the lane perpendicular to the lane where the vehicle is located; If a second moving object exists within the target obstacle, acquire image information of the intersection captured by the camera and status indication information of the traffic lights at the intersection acquired by the vehicle's navigation system; based on the image information, determine the status information of the traffic lights at the intersection as first status information; based on the status indication information, determine the status information of the traffic lights at the intersection as second status information; if the first status information differs from the second status information, then use the first status information as the status information of the traffic lights; if the status information is green, determine whether the second moving object is rapidly approaching the vehicle; if so, determine that there is a collision risk between the vehicle and the second moving object; If there is a risk of collision, the speed of the vehicle will be controlled.

2. The method as described in claim 1, characterized in that, If the target obstacle includes a first moving object crossing the target intersection, the method further includes: Determine the actual distance between the first moving object and the vehicle, and the vehicle's speed; The braking distance of the vehicle is determined based on the driving speed; If the braking distance is greater than the actual distance, it is determined that there is a risk of collision between the vehicle and the first moving object.

3. The method as described in claim 1, characterized in that, The step of determining whether the second moving object is rapidly approaching the vehicle includes: Determine whether the speed of the second moving object is greater than a preset speed, where the preset speed is the maximum speed limit of the lane where the second moving object is located; If so, then it is determined that the second moving object is rapidly approaching the vehicle.

4. A vehicle control device, characterized in that, The device includes: The first judgment module is used to determine whether the vehicle is driving at night; if the vehicle is driving at night, the automatic headlights of the vehicle are turned on. The second judgment module is used to determine whether there is a pedestrian crossing at the target intersection when the vehicle arrives at the target intersection. If so, the vehicle's headlights are controlled to alternate between high and low beams a preset number of times. The third judgment module is used to determine whether there are movable target obstacles around the target intersection. The target obstacles include at least one of the following: a first moving object that passes through the target intersection and a second moving object in the perpendicular lane of the lane where the vehicle is located. The fourth judgment module is used to, if a second moving object exists among the target obstacles, acquire image information of the intersection captured by the camera and status indication information of the traffic lights at the intersection acquired by the vehicle's navigation system; based on the image information, determine the status information of the traffic lights at the intersection as first status information; based on the status indication information, determine the status information of the traffic lights at the intersection as second status information; if the first status information is different from the second status information, then the first status information is used as the status information of the traffic lights; if the status information is green, then determine whether the second moving object is rapidly approaching the vehicle; if so, then determine that there is a collision risk between the vehicle and the second moving object. The control module is used to control the speed of the vehicle if there is a risk of collision.

5. The apparatus as described in claim 4, characterized in that, The device further includes a fifth judgment module, which includes: The first determining submodule is used to determine the actual distance between the first moving object and the vehicle and the vehicle's speed if the target obstacle includes a first moving object that passes through the target intersection. The second determining submodule is used to determine the braking distance of the vehicle based on the driving speed; The third determining submodule is used to determine, when the braking distance is greater than the actual distance, that there is a risk of collision between the vehicle and the first moving object.

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