Vehicle control method, vehicle and storage medium

Abstract

The invention provides a control method of a vehicle, the vehicle and a storage medium, and relates to the technical field of intelligent driving, the control method comprises the steps that if it is detected that the vehicle is in a backing state, the position of the vehicle and a target parking area of the vehicle are obtained, and the target parking area is the area where a parking space in the current driving direction of the vehicle is located; based on the position of the vehicle and a target parking area of the vehicle, determining a position relationship between the vehicle and the target parking area; and based on the position relation, the reversing lateral braking function of the vehicle is controlled to be in a starting state or a closing state. According to the method, false triggering of the reversing lateral braking function can be avoided, so that the driving experience of a user is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and more specifically, to a vehicle control method, a vehicle, and a storage medium in the field of intelligent driving. Background Technology

[0002] The Rear Cross Traffic Brake (RCTB) function is a feature of the vehicle's driver assistance system. The RCTB function uses a rear corner radar located at the rear bumper to detect targets to the side and rear of the vehicle. When a collision risk is detected between the vehicle and a target to the side and rear, the RCTB will brake the vehicle to ensure its safety.

[0003] However, due to the perception limitations of the rear corner radar, the RCTB function may be falsely triggered, leading to unnecessary braking of the vehicle and affecting the user's driving experience. Therefore, how to avoid false triggering of the RCTB function to improve the user's driving experience is a technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a vehicle control method, a vehicle, and a storage medium. The method can avoid false triggering of the reversing side braking function, thereby improving the user's driving experience.

[0005] Firstly, a vehicle control method is provided, the control method including: If the vehicle is detected to be in reverse, the vehicle's position and target parking area are obtained. The target parking area is the area where the vehicle is currently driving towards the parking space. Determine the positional relationship between the vehicle and the target parking area based on the vehicle's location and the vehicle's target parking area; Based on the positional relationship, the vehicle's reversing side braking function is controlled to be either active or deactivated.

[0006] In the embodiments of this application, if the vehicle is detected to be in a reversing state, the positional relationship between the vehicle and the target parking area is determined based on the vehicle's position and the target parking area; and based on this positional relationship, the reversing side braking function is controlled to be either active or deactivated. Since the likelihood of an obstacle passing behind the vehicle can be determined based on the positional relationship between the vehicle and the target parking area when the vehicle is in a reversing state, the need to activate the reversing side braking function is determined based on this likelihood, i.e., the reversing side braking function is controlled to be active or deactivated. Compared to the false triggering of the reversing side braking function caused by the reversing side braking function being continuously active in related technologies, this application controls the reversing side braking function to be active or deactivated based on the positional relationship between the vehicle and the target parking area, ensuring reasonable control of the reversing side braking function and effectively avoiding unnecessary braking caused by false triggering of the reversing side braking function when there is no possibility of an obstacle passing, thereby improving the user's driving experience.

[0007] In one implementation, the likelihood of an obstacle passing behind the vehicle can be determined based on the positional relationship. If the likelihood of the obstacle passing is high, the vehicle's reversing lateral braking function is activated to ensure vehicle safety when an obstacle is detected. If the likelihood of the obstacle passing is low, the vehicle's reversing lateral braking function is deactivated to avoid false triggering of the reversing lateral braking function due to false detection of obstacles, thus controlling the vehicle to brake when braking is not required and avoiding impacting the user's driving experience.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the reversing side braking function of the vehicle is controlled to be in an on or off state based on positional relationships, including: If the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, the reversing side braking function is turned off. If the positional relationship indicates that the rear projection area of ​​the vehicle is outside the target parking area, the reversing side braking function is activated.

[0009] In the embodiments of this application, if the rear projection area of ​​the vehicle, indicating the position relationship, is within the target parking area, it means that the distance between the vehicle in reversing mode and the garage wall is small, and the probability of an obstacle passing through is low. Even if an obstacle is detected, it may be a phantom image formed by reflection from a strong reflective object within a preset range of the vehicle. Therefore, the reversing side braking function is controlled to be in the off state to avoid false triggering of the reversing side braking function due to false detection of obstacles, thereby improving the user's driving experience. If the rear projection area of ​​the vehicle, indicating the position relationship, is outside the target parking area, it means that the distance between the vehicle in reversing mode and the garage wall is large, and the probability of an obstacle passing through is high. Therefore, the reversing side braking function is controlled to be in the on state to ensure that the reversing side braking function controls the vehicle braking in time when it detects an obstacle (other vehicles or pedestrians) passing from the side and rear of the vehicle, avoiding the risk of collision between the vehicle and the obstacle.

[0010] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, if the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, the control of the reversing lateral braking function is in the off state, including: Detect whether there are strong reflective objects within a preset range of the current vehicle; If a strong reflective object is detected, and the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, the reversing side braking function is turned off.

[0011] In the embodiments of this application, the presence of strong reflective objects within a preset range of the vehicle is detected. If a strong reflective object is detected and its positional relationship indicates that the rear projection area of ​​the vehicle is located in the target parking area, when an obstacle is detected, the passing distance to the side and rear of the vehicle is small, and the strong reflective object is present. Even if an obstacle is detected, the obstacle may be a phantom image formed by the strong reflective object. Therefore, the reversing side braking function of the vehicle is controlled to be in the off state to avoid unnecessary braking caused by the false triggering of the reversing side braking function, which would affect the user's driving experience.

[0012] Combining the first aspect and the above implementation methods, in some implementation methods of the first aspect, detecting whether there are strong reflective objects within a preset range of the current vehicle includes: If radar sensors in different locations within the vehicle detect different positions of the same target within a preset range, it is determined that a strong reflective object exists within the preset range. Alternatively, if the vehicle detects a target object within a preset range, and determines that there is a highly reflective object within the preset range, the target object is an object that does not conform to the vehicle's current environmental information.

[0013] In the embodiments of this application, if radar sensors at different locations in the vehicle detect different positions of the same target object within a preset range, it indicates that a strong reflective object is present, forming a phantom image of the target object. Therefore, it is determined that a strong reflective object exists within the preset range. If a target object that does not conform to the current environmental information of the vehicle is detected within the preset range, it indicates that the target object is a phantom image formed by a strong reflective object. Therefore, it is determined that a strong reflective object exists within the preset range.

[0014] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, the control method further includes: When the reversing side braking function is engaged, detect whether there are any obstacles behind or to the side of the vehicle. If an obstacle is detected to the side or rear of the vehicle, and the distance between the vehicle and the obstacle is less than a preset distance, the vehicle will be braked.

[0015] In the embodiments of this application, when the vehicle's reversing side braking function is activated, the system detects whether there is an obstacle behind the vehicle. If an obstacle exists and the distance between the vehicle and the obstacle is less than a preset distance, it indicates that the vehicle is at risk of colliding with the obstacle. Therefore, the system controls the vehicle's braking to avoid a collision with the obstacle, thereby improving vehicle safety.

[0016] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, the control method further includes: Determine the type of obstacle and its motion information; Based on the type and motion information of the obstacle, determine the collision risk level of the obstacle; The preset distance is determined based on the collision risk level, and the preset distance is positively correlated with the collision risk level.

[0017] In the embodiments of this application, the collision risk level of an obstacle is determined based on its type and motion information, and a preset distance is determined based on the obstacle risk level. Since the preset distance is positively correlated with the collision risk level, when the collision risk level is higher, the risk of a vehicle collision is greater. Therefore, when the distance between the vehicle and the obstacle is greater, the vehicle braking is controlled to reduce the risk of a vehicle collision, thereby improving vehicle safety.

[0018] Combining the first aspect and the above implementation methods, in some implementation methods of the first aspect, determining the positional relationship between the vehicle and the target parking area based on the vehicle's location and the vehicle's target parking area includes: The rear projection area of ​​the vehicle is determined based on its position. Based on the rear projection area and the target parking area, the positional relationship is determined. The positional relationship includes whether the rear projection area of ​​the vehicle is located within the target parking area or whether the rear projection area of ​​the vehicle is located outside the target parking area.

[0019] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, the control method further includes: If the vehicle is detected to be in reverse, control the vehicle's reversing warning function to activate; When an obstacle is detected to the side or rear of the vehicle, a warning message is output through the reversing warning function to alert the user that an obstacle exists to the side or rear of the vehicle.

[0020] In the embodiments of this application, if the vehicle is in reverse, the vehicle's reversing warning function is activated, and a warning message is output when an obstacle is detected to the side or rear. This reversing side warning function alerts the user to the presence of an obstacle, preventing the vehicle from colliding with an obstacle during reversing due to the user's failure to notice it, thereby improving vehicle safety.

[0021] Secondly, a vehicle control device is provided, the control device comprising: The acquisition module is used to acquire the vehicle's position and target parking area if the vehicle is detected to be in a reversing state. The target parking area is the area where the vehicle is currently driving towards the parking space. The processing module is used to determine the positional relationship between the vehicle and the target parking area based on the vehicle's location and the target parking area; based on the positional relationship, it controls whether the vehicle's reversing side braking function is on or off.

[0022] In conjunction with the second aspect, in some implementations of the second aspect, the processing module is specifically used to: if the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, control the reversing side braking function to be in the off state; if the positional relationship indicates that the rear projection area of ​​the vehicle is outside the target parking area, control the reversing side braking function to be in the on state.

[0023] In combination with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the processing module is specifically used to: detect whether there are strong reflective objects within a preset range of the current vehicle; if strong reflective objects are detected and the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, control the reversing side braking function to be in the off state.

[0024] In combination with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the processing module is specifically used to: determine that there is a strong reflective object within the preset range if radar sensors at different locations in the vehicle detect different positions of the same target object within the preset range; or, determine that there is a strong reflective object within the preset range if the vehicle detects a target object within the preset range, and the target object is an object that does not conform to the current environmental information of the vehicle.

[0025] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the processing module is further configured to: detect whether there is an obstacle behind the side of the vehicle when the reversing side braking function is activated; if an obstacle is detected behind the side of the vehicle and the distance between the vehicle and the obstacle is less than a preset distance, control the vehicle to brake.

[0026] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the processing module is specifically used to: determine the rear projection area of ​​the vehicle based on the vehicle's position; and determine the positional relationship between the rear projection area and the target parking area, wherein the positional relationship includes whether the rear projection area of ​​the vehicle is located within the target parking area or whether the rear projection area of ​​the vehicle is located outside the target parking area.

[0027] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the processing module is further configured to: if the vehicle is detected to be in a reversing state, control the vehicle's reversing warning function to be activated; when an obstacle is detected to be present on the side or rear of the vehicle, output a prompt message through the reversing warning function, the prompt message being used to alert the user that there is an obstacle on the side or rear of the vehicle.

[0028] Thirdly, a vehicle is provided, including a memory and a processor, the memory for storing executable program code, and the processor for calling and running the executable program code from the memory, causing the vehicle to perform the control method in the first aspect or any possible implementation thereof.

[0029] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer, causes the computer to perform the control method described in the first aspect or any possible implementation thereof.

[0030] Fifthly, a computer-readable storage medium is provided, which stores a computer program that, when executed, implements the control method described in the first aspect or any possible implementation thereof. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a scenario provided in an embodiment of this application; Figure 2 This is another scenario illustration provided by an embodiment of this application; Figure 3 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application; Figure 4 This is a schematic flowchart of another vehicle control method provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0032] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0033] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0034] Because the driver's field of vision is limited when reversing, technologies such as Rear Cross Traffic Brake (RCTB) are used to ensure safety during reversing and to avoid collisions with obstacles (other vehicles or pedestrians) approaching from the side and rear. RCTB is a feature of the vehicle's driver assistance system that uses a rear corner radar located on the rear bumper to detect targets to the side and rear of the vehicle. When a collision risk is detected, the vehicle brakes to ensure safety. However, due to the limitations of rear corner radar, RCTB may be falsely triggered, leading to unnecessary braking and affecting the driver's experience.

[0035] Specifically, when the vehicle is reversing, the rear corner radar of the vehicle emits electromagnetic waves. The electromagnetic waves propagate at a fixed speed and return after detecting the target. The vehicle determines the propagation time by the time difference between emitting the electromagnetic wave and receiving the returned electromagnetic wave. Based on the propagation time and the propagation speed of the electromagnetic wave, the distance between the target and the vehicle is determined (distance = (propagation time × propagation speed) ÷ 2).

[0036] However, electromagnetic waves do not always travel along a straight path to their target and back. If there are strong reflective surfaces (such as smooth ground, walls, or guardrails) within the vehicle's preset range, electromagnetic waves traveling on different paths will be emitted upon encountering these reflective surfaces. The rear corner radar receives these electromagnetic waves with longer delays. Because the algorithm cannot distinguish the source path of the electromagnetic waves, it assumes all returning electromagnetic waves are on a straight path. Due to reflection, the propagation time is longer, leading to the incorrect calculation of targets at greater distances. Furthermore, reflection alters the incident direction of the electromagnetic waves, causing a deviation in the calculated target's orientation. Therefore, the detected target is a phantom image rather than a real object. If the rear corner radar mistakenly identifies the detected phantom image as an obstacle, it may cause the RCTB (Real-Time Tolerance) function to be falsely triggered. Even if there is no actual obstacle behind the vehicle posing a collision threat, the vehicle may brake suddenly, causing unnecessary fright and safety hazards to the driver.

[0037] The following is combined Figure 1 The scene diagram shown further illustrates the problems existing in the relevant technologies.

[0038] Figure 1 This is a schematic diagram of a scenario provided in an embodiment of this application.

[0039] For example, such as Figure 1 As shown, scene 100 includes vehicle 110, vehicle 120, a phantom image 120' of vehicle 120, a rear corner radar 111 of vehicle 110, vehicle 110 reversing in the reversing direction, and vehicle 120 traveling in the driving direction to the side front of vehicle 110.

[0040] When vehicle 110 is reversing, its rear corner radar 111 emits multipath electromagnetic waves to detect whether there are obstacles to the side and rear. Figure 1When emitted in the direction shown by L1, the electromagnetic wave, after reaching the reflecting surface, will be reflected in the direction shown by L2 and return along the original path after reaching vehicle 120. Vehicle 110's radar system cannot determine that the electromagnetic wave is a reflected wave returning, and will mistakenly interpret it as a straight-line return, thus mistaking the ghost image 120' of vehicle 120 for its actual position. Vehicle 110 misidentifies the ghost image 120' as an obstacle. To avoid a collision, the vehicle's RCTB function will brake vehicle 110. However, there is actually no obstacle behind or to the side of the vehicle. This mis-triggered RCTB function leads to unnecessary braking, affecting the user's driving experience.

[0041] Therefore, how to prevent the RCTB function from being accidentally triggered in order to improve the user's driving experience is a technical problem that needs to be solved.

[0042] In view of this, this application provides a vehicle control method, a vehicle, and a storage medium. Through embodiments of this application, if the vehicle is detected to be in a reversing state, the positional relationship between the vehicle and the target parking area is determined based on the vehicle's position and the target parking area; and based on this positional relationship, the reversing side braking function is controlled to be either active or deactivated. Compared to the false triggering of the reversing side braking function caused by the reversing side braking function being continuously active in related technologies, this application controls the reversing side braking function to be active or deactivated based on the positional relationship between the vehicle and the target parking area, ensuring reasonable control of the reversing side braking function and effectively avoiding unnecessary braking caused by false triggering of the reversing side braking function when the probability of obstacle passage is low, thereby improving the user's driving experience.

[0043] The following is combined Figures 2 to 4 The vehicle control method provided in the embodiments of this application will be described.

[0044] Figure 2 This is another scenario diagram provided in the embodiments of this application.

[0045] like Figure 2 In scenario 200, when vehicle 110 is reversing into a parking space, the likelihood of an obstacle passing behind the vehicle can be determined based on the vehicle's position relative to the parking area. The parking area is the area defined by parking space lines, such as... Figure 2 As shown in Figure 130. When the rear of the vehicle (e.g., at the rear bumper) is in a parking area, the distance between the vehicle 110 and the reflective surface (wall) is relatively short, the probability of an obstacle passing through is low, and the RCTB function controlling the vehicle is in the off state. At this time, even if an obstacle is detected, it will be considered as a phantom image formed by the reflective surface of a strong reflective object (e.g., Figure 2The image of vehicle 120 (120') is shown to prevent the vehicle's RCTB function from controlling the vehicle's braking when it detects an obstacle's image, thus avoiding unnecessary fright and safety hazards to the driver.

[0046] When the rear of the vehicle (e.g., at the rear bumper) is outside the parking area, the distance between the vehicle 110 and the reflective surface (wall) is relatively far, and the probability of an obstacle passing through is high. The RCTB function controlling the vehicle is activated. At this time, if an obstacle is detected to the side and rear, the RCTB function will control the vehicle to brake in order to reduce the risk of the vehicle colliding with the obstacle and improve the safety of the vehicle.

[0047] It should be noted that when the rear projection area of ​​the vehicle is outside the parking area, the probability of an obstacle passing through is low. However, there is still a possibility that small obstacles may pass through. Therefore, for safety reasons, when the vehicle's RCTB function is turned off, the vehicle's Rear Cross Traffic Alert (RTCA) function should be turned on. The Rear Cross Traffic Alert function means that if an obstacle is detected and is close enough during the vehicle's reversing process, a warning function will be triggered to alert the user of the obstacle's presence. Ensure that the RCTB function is turned off when the probability of an obstacle passing through is low to avoid unnecessary braking, while keeping the RCTA function on to ensure timely alerts to the user of obstacle-related information and improve vehicle safety.

[0048] Figure 3 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0049] For example, Figure 3 The method 300 shown can be performed by a vehicle (e.g.) Figure 1 The action can be performed by the vehicle controller (as shown in vehicle 110), or by a processor or chip within the vehicle.

[0050] like Figure 3 As shown, the vehicle control method 300 includes S310 to S330, which are described in detail below.

[0051] S310: If the vehicle is detected to be in reverse, obtain the vehicle's position and the vehicle's target parking area.

[0052] The target parking area is the area where the vehicle is currently heading towards the parking space. For example, if there are two vacant parking spaces, A and B, and the vehicle is currently traveling in the direction of parking space A, then the area where parking space A is located is designated as the target parking area; if the vehicle is currently traveling in the direction of parking space B, then parking space B is designated as the target parking area. Alternatively, if the vehicle has an automatic parking function, the area where the automatic parking function determines the parking space is designated as the target parking area.

[0053] For example, a vehicle uses a camera to detect the parking space lines (usually white lines) corresponding to the parking spaces in its current driving direction, and determines the area formed by the parking space lines as the target parking area.

[0054] For example, multiple radars are installed on the front and rear bumpers of the vehicle. When the vehicle is in motion, the radar sensors detect obstacles on both sides of the vehicle to identify the target parking area in the current driving direction. The vehicle's surround-view camera collects image information of the vehicle and its surroundings, stitches it together to obtain a bird's-eye view (i.e., top view), and displays it on the central control screen. The image recognition algorithm can identify the parking lines and determine the parking lines as the boundary of the target parking area, and the area formed by the parking lines is determined as the target parking area.

[0055] For example, the vehicle obtains its steering angle through a steering angle sensor, determines its wheel speed through a wheel speed sensor, and determines its slope and steering rate through an inertial measurement unit; based on the steering angle, wheel speed, and the vehicle's slope and steering rate, combined with the vehicle dynamics model, the vehicle's trajectory and real-time position are determined.

[0056] For example, a vehicle can determine whether it is currently in reverse based on the current gear information. If the transmission gear sensor detects that the vehicle has switched to reverse gear (R gear), it is determined that the vehicle is in reverse.

[0057] Optionally, the vehicle can determine whether it is in reverse by using its current wheel speed and longitudinal acceleration. For example, the vehicle's wheels are equipped with wheel speed sensors. The current wheel direction is determined by the wheel speed sensors. If the wheels begin to rotate in the opposite direction (opposite rotation means the rotation direction is opposite to the vehicle's forward rotation direction), the vehicle is determined to be in reverse. The longitudinal acceleration sensor detects the direction of the vehicle's longitudinal acceleration. If the longitudinal acceleration is reverse acceleration (opposite acceleration means the acceleration direction is opposite to the vehicle's forward direction), the vehicle is determined to be in reverse.

[0058] Optionally, the vehicle's reversing status can be determined by combining at least two of the following: gear position information, wheel speed, and longitudinal acceleration. For example, the vehicle is determined to be in reverse when at least two of the preset conditions are met. These preset conditions include gear position information indicating the vehicle is in reverse gear, wheel speed indicating the wheels are beginning to rotate in the opposite direction, and longitudinal acceleration indicating the vehicle is accelerating in the opposite direction. This comprehensive judgment based on multiple conditions ensures the accuracy and reliability of reversing status detection.

[0059] In one implementation, the control method further includes: if the vehicle is detected to be in a reversing state, controlling the vehicle's reversing warning function to be activated; when an obstacle is detected to be present on the side or rear of the vehicle, outputting a prompt message through the reversing warning function, the prompt message being used to alert the user that an obstacle is present on the side or rear of the vehicle.

[0060] It's important to note that RCTA (Right-Turn Alert) addresses the blind spot problem caused by vehicle obstruction, making it difficult for drivers to see obstacles to the side and rear of the vehicle. By detecting obstacles at a relatively close distance (less than a preset distance), it provides an early warning and visually alerts the driver, thus reducing the risk of collision. The difference between RCTA and RCTB (Right-Turn Bypass) is that RCTA focuses on warnings and does not directly intervene in driving, thus having a smaller impact on the user's driving experience; RCTB, on the other hand, directly intervenes in driving, significantly impacting the user's driving experience. When the vehicle is in reverse, RCTA remains active regardless of whether the detected obstacle is a phantom image, ensuring that the risk of collision is reduced and vehicle safety is improved with minimal impact on the driving experience.

[0061] For example, when outputting prompts, different forms of prompts can be used, including but not limited to sound warnings, light warnings, and screen prompts.

[0062] The audio warning system uses a speaker inside the vehicle to emit a buzzing sound. The frequency of the buzzing sound increases with the level of risk; for example, the closer the obstacle is to the vehicle, the higher the risk level, and the faster the buzzing sound, thus attracting the driver's attention. The light warning system includes controlling the flashing of warning lights on the vehicle's exterior rearview mirrors; for example, if there is an obstacle to the left rear of the vehicle, the warning light on the left rearview mirror flashes; if there is an obstacle to the right rear of the vehicle, the warning light on the right rearview mirror flashes, accurately indicating the direction of oncoming traffic. Light warnings can also include indicator lights on the instrument panel or central control screen. The screen warning system overlays warning boxes and / or text prompts onto the reversing camera interface on the vehicle's infotainment system. The warning box marks the obstacle, and the text prompt could be something like "Vehicle approaching from the right rear, please be aware," allowing the driver to intuitively understand the obstacle's location in conjunction with the image.

[0063] In the embodiments of this application, if the vehicle is in reverse, the vehicle's reversing warning function is activated, and a warning message is output when an obstacle is detected to the side or rear. This reversing side warning function alerts the user to the presence of an obstacle, preventing the vehicle from colliding with an obstacle during reversing due to the user's failure to notice it, thereby improving vehicle safety.

[0064] S320 determines the positional relationship between the vehicle and the target parking area based on the vehicle's location and the target parking area.

[0065] In one implementation, the positional relationship includes the positional relationship between the rear projection area of ​​the vehicle and the target parking area; determining the rear projection area of ​​the vehicle based on the vehicle's position; and determining the positional relationship based on the rear projection area and the target parking area, wherein the positional relationship includes the rear projection area of ​​the vehicle being located within the target parking area, or the rear projection area of ​​the vehicle being located outside the target parking area.

[0066] For example, the rear of a vehicle refers to its rear outline, that is, the farthest point of the vehicle along the Z-axis (height direction) and Y-axis (width direction); the rear projection area of ​​a vehicle refers to the area on the ground where the vertical projection of the farthest target component in the rear of the vehicle body is located. Rear components include the rear bumper, spare tire carrier, tow hook, or license plate. For instance, if the tow hook is located at the farthest point of the rear of the vehicle, the rear projection area is the vertical projection area of ​​the tow hook; if the rear bumper is located at the farthest point of the rear of the vehicle, the rear projection area is the vertical projection area of ​​the rear bumper.

[0067] For example, after determining the vehicle position, the rear projection area of ​​the vehicle is determined by combining the vehicle position and the vehicle body posture; the positions of the target parking area and the rear projection area are both converted into areas in the same coordinate system; the coordinates of the rear projection area are compared with the coordinates of the target parking area to determine whether the rear projection area is located within the target parking area, thereby determining the positional relationship between the rear projection area and the target parking area.

[0068] For example, the vehicle's own positioning model can be obtained based on the vehicle's position and body posture, thereby determining the boundary of the vehicle's rear projection area. If the coordinates of the vehicle's rear projection area boundary are all within the target parking area, then the rear projection area is determined to be within the target parking area; otherwise, the rear projection area is determined to be outside the target parking area.

[0069] S330 controls whether the vehicle's reversing side braking function is on or off based on its position.

[0070] Among them, the reversing side braking function is used to detect whether there is an obstacle on the side and rear of the vehicle when the vehicle is in reversing mode. If there is an obstacle and the distance of the obstacle is less than a preset distance, the vehicle will be controlled to brake urgently.

[0071] For example, when the reversing side braking function is activated, if an obstacle is detected to be behind the vehicle and the distance of the obstacle is less than a preset distance, the vehicle will be controlled to brake urgently; when the reversing side braking function is deactivated, if an obstacle is detected to be behind the vehicle and the distance of the obstacle is less than a preset distance, the vehicle will not be controlled to brake.

[0072] Understandably, the vehicle's position determines the likelihood of an obstacle passing behind or to the side of the vehicle. If the likelihood of the obstacle is high, the vehicle's reversing lateral braking function is activated to ensure vehicle safety when an obstacle is detected. If the likelihood of the obstacle is low, the vehicle's reversing lateral braking function is deactivated to prevent accidental activation of the reversing lateral braking function due to a false detection of an obstacle, thus controlling the vehicle to brake when braking is not necessary and avoiding impacting the user's driving experience.

[0073] In one implementation, controlling the vehicle's reversing lateral braking function to be in an on or off state based on the positional relationship includes: if the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, controlling the reversing lateral braking function to be in an off state; if the positional relationship indicates that the rear projection area of ​​the vehicle is outside the target parking area, controlling the reversing lateral braking function to be in an on state.

[0074] For example, if the positional relationship indicator shows that the rear projection area of ​​the vehicle is within the target parking area, it means that the distance between the vehicle in reversing mode and the garage wall is small, and the probability of an obstacle passing through is low. Even if an obstacle is detected, it may be a phantom image formed by reflection from a strong reflective object within the vehicle's preset range. Therefore, the reversing side braking function is kept off to avoid false triggering of the reversing side braking function due to the false detection of obstacles, thereby improving the user's driving experience. If the positional relationship indicator shows that the rear projection area of ​​the vehicle is outside the target parking area, it means that the distance between the vehicle in reversing mode and the garage wall is large, and the probability of an obstacle passing through is high. Therefore, the reversing side braking function is kept on to ensure that the reversing side braking function promptly controls the vehicle's braking when it detects an obstacle (other vehicles or pedestrians) passing from the side and rear of the vehicle, avoiding a collision between the vehicle and the obstacle.

[0075] For example, the length of a parking space is 6m, which is the distance between the front and rear edges of the parking space line (e.g., ...). Figure 1(As shown in the scenario), the distance between the rear edge of the parking space line and the garage wall is 2 meters. When a vehicle is reversing into the garage, if the rear projection area of ​​the vehicle is within the target parking area, the distance between the rear of the vehicle and the garage wall is less than 8 meters. Because the distance between the vehicle and the garage wall is small, the likelihood of other vehicles passing through is low. Furthermore, due to the reflectivity of the garage wall and floor, a ghost image can easily be generated. Therefore, when the rear projection area is within the target parking area and the likelihood of other vehicles passing through is low, the lateral braking function is turned off to prevent the vehicle from misidentifying the ghost image as an obstacle, thus avoiding unnecessary braking that could affect the user's driving experience. If the rear projection area is outside the target parking area, the distance between the rear of the vehicle and the target parking area is greater than 8 meters, and the likelihood of other vehicles passing through is high. Therefore, when the rear projection area is outside the target parking area and the likelihood of other vehicles passing through is high, the lateral braking function is turned on to ensure timely braking when an obstacle is detected, preventing a collision.

[0076] In the embodiments of this application, based on the existing configuration of the vehicle, the RCTB false triggering in normal reversing parking scenarios can be avoided without increasing costs, thereby improving the user experience.

[0077] Optionally, to ensure vehicle safety, the area from the vehicle's center of gravity to its rear end can be defined as the vehicle's rear area, so that when the vehicle's rear area is located in the target parking area, the distance between the vehicle and the garage wall is small enough to ensure that the lateral braking function of the vehicle is turned off when the possibility of other obstacles passing through is extremely low.

[0078] Understandably, the rear area of ​​the vehicle can be set according to the needs of safety and driving experience. If the driving experience is highly valued, a smaller rear area can be set (for example, setting the area where the rear bumper is located as the rear area) to ensure that the side braking function is not accidentally triggered as much as possible, and to avoid unnecessary braking affecting the driving experience. If the safety of the vehicle is highly valued, a larger rear area can be set (for example, setting the rear half of the vehicle body as the rear area) to ensure that the side braking function is kept off when the possibility of other obstacles is extremely low, and kept on when there is a certain possibility of other obstacles passing through, so as to avoid collisions and ensure vehicle safety.

[0079] In another implementation, if the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, the reversing side braking function is controlled to be in the off state, including: detecting whether there is a strong reflective object within a preset range of the current vehicle; if a strong reflective object is detected and the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, the reversing side braking function is controlled to be in the off state.

[0080] The preset range is defined by taking the vehicle's position as the center and a first distance as the radius. When a strong reflective object exists within the preset range, the reflection of electromagnetic waves by the strong reflective object will affect the vehicle's detection of obstacles.

[0081] For example, the system detects whether there are strong reflective objects within a preset range of the vehicle. If a strong reflective object is detected and its position indicates that the rear projection area of ​​the vehicle is located in the target parking area, when an obstacle is detected, the probability of the obstacle passing through is low because the passing distance to the side and rear of the vehicle is small. Moreover, the presence of a strong reflective object within the preset range makes it easier to form a phantom image. Therefore, even if an obstacle is detected, the obstacle may be a phantom image formed by a strong reflective object. The system also controls the vehicle's reversing side braking function to be in a deactivated state to avoid unnecessary braking caused by accidental triggering of the reversing side braking function, which would affect the user's driving experience.

[0082] For example, a strong reflective object refers to an object capable of reflecting a large number of radar waves. Types of strong reflective objects include metallic objects, glass / mirror objects, and puddles / slippery surfaces. Examples of metallic objects include metal railings and pillars in parking lots, and the metal surfaces of large trucks; examples of glass / mirror objects include glass curtain wall buildings, floor-to-ceiling windows in shopping malls, and vehicle headlights; examples of puddles / slippery surfaces include puddles in parking lots after rain and smooth tiled floors in underground parking garages of shopping malls. The detection method for strong reflective objects is explained below: Specifically, detecting whether there are strong reflective objects within a preset range of the current vehicle includes: if radar sensors at different locations in the vehicle detect different positions of the same target object within the preset range, it is determined that there are strong reflective objects within the preset range; or, if the vehicle detects a target object within the preset range, it is determined that there are strong reflective objects within the preset range, and the target object is an object that does not conform to the current environmental information of the vehicle.

[0083] For example, if radar sensors at different locations in the vehicle detect the same target object at different positions within a preset range, it is determined that a strong reflective object exists within the preset range. Because the electromagnetic waves emitted by radar sensors at different locations have different directions, the incident angles of these electromagnetic waves are different, and the reflection angles after reflection by the reflective surface are also different. Therefore, when electromagnetic waves from different directions detect the same target object, they will detect different phantom images at different positions. Thus, if radar sensors at different locations in the vehicle detect the same target object at different positions, it is determined that the target object is a detected phantom image rather than the real target object, and therefore, a strong reflective object is determined to exist within the preset range.

[0084] For example, if the vehicle detects a target object within a preset range that does not conform to the vehicle's current environmental information, it is determined that there is a strong reflective object within the preset range. For instance, if there is no passable road behind the current vehicle, but the vehicle detects other vehicles behind it, it is determined that these are phantoms formed by strong reflective objects, and therefore it is determined that there are strong reflective objects within the vehicle's preset range.

[0085] Optionally, the presence of a strong reflective object within a preset range of the vehicle can be determined by combining the image detection results (e.g., reversing camera) and the radar detection results; if the radar detection results identify an obstacle behind the vehicle, but the image detection results do not identify the obstacle, the obstacle is determined to be a phantom image formed by a strong reflective object, and a strong reflective object is determined to exist within the preset range of the vehicle.

[0086] It is understandable that the reflective surface of a highly reflective object can reflect electromagnetic waves, potentially leading to inaccurate detection results from radar sensors. However, highly reflective objects do not affect image detection results; that is, the image is unaffected by highly reflective objects and can identify real obstacles. Therefore, if the radar detection result identifies an obstacle to the side or rear of the vehicle, but the image detection result does not identify the obstacle, it is determined that the obstacle is a phantom image formed by a highly reflective object, thus confirming the presence of a highly reflective object. If both the radar detection result and the image detection result identify the same obstacle, the obstacle is a real obstacle, and in this case, other methods are needed to determine whether a highly reflective object exists.

[0087] In one implementation, the control method further includes: when the reversing side braking function is activated, detecting whether there is an obstacle behind the side of the vehicle; if an obstacle is detected behind the side of the vehicle and the distance between the vehicle and the obstacle is less than a preset distance, controlling the vehicle to brake.

[0088] For example, if the preset distance is 10m and the vehicle's reversing side braking function is activated, the reversing side braking function will continuously detect whether there are obstacles behind the vehicle during the reversing process; and detect the distance between the obstacle and the vehicle. When the detected distance is less than 10m, the vehicle will be braked to avoid a collision between the vehicle and the obstacle.

[0089] It should be noted that the above is an example of a preset distance. The preset distance can also be 8m, 15m, etc. This application does not limit the specific value of the preset distance.

[0090] Optionally, if an obstacle is detected to the side or rear of the vehicle, and the distance between the vehicle and the obstacle is less than a preset distance, the vehicle brakes and the seat belts tighten. This ensures that the risk of collision is further reduced while alerting the user.

[0091] In the embodiments of this application, when the vehicle's reversing side braking function is activated, the system detects whether there is an obstacle behind the vehicle. If an obstacle exists and the distance between the vehicle and the obstacle is less than a preset distance, it indicates that the vehicle is at risk of colliding with the obstacle. Therefore, the system controls the vehicle's braking to avoid a collision with the obstacle, thereby improving vehicle safety.

[0092] In one implementation, the control method further includes: determining the type of obstacle and the motion information of the obstacle; determining the collision risk level of the obstacle based on the type of obstacle and the motion information; and determining a preset distance based on the collision risk level, wherein the preset distance is positively correlated with the collision risk level.

[0093] For example, different types of obstacles have different collision risk levels for vehicles. The higher the collision risk level, the greater the probability of a collision between the vehicle and the obstacle, and the greater the damage caused after the collision. For instance, the collision risk level of dynamic obstacles (such as pedestrians, other moving vehicles, etc.) is higher than that of static obstacles (walls, trees, fixed road barriers, etc.); the collision risk level of large obstacles is higher than that of small obstacles.

[0094] For example, obstacle motion information includes the obstacle's speed, acceleration, and direction of motion. The faster the speed, the greater the probability of a collision with the vehicle and the more severe the consequences. The magnitude of acceleration affects the change in the obstacle's speed, thus altering the collision risk. The direction of motion determines whether the obstacle will intersect with the vehicle's path. For instance, an obstacle rapidly approaching a vehicle with a small angle to its direction of travel carries a higher risk of collision.

[0095] For example, collision risk levels can be divided into three levels: high, medium, and low. For instance, when the obstacle is a dynamic obstacle with a high speed or a large volume (e.g., the obstacle's moving speed is greater than a preset speed, or its volume is greater than a preset volume), the collision risk level is determined to be high; when the obstacle is a dynamic obstacle with a slow speed (e.g., the obstacle's moving speed is less than a preset speed and not zero), the collision risk level is determined to be low.

[0096] When the collision risk level is high, a first preset distance is determined; when the collision risk level is medium, a second preset distance is determined; when the collision risk level is low, a third preset distance is determined; wherein, the third preset distance is less than the second preset distance, and the second preset distance is less than the first preset distance.

[0097] It should be noted that in practical applications, the preset distances for different collision risk levels can be pre-calibrated through real-vehicle tests. For example, the first preset distance can be 6m, the second preset distance can be 4m, and the third preset distance can be 2m. This application does not limit the specific values ​​of the preset distances corresponding to different collision risk levels.

[0098] In the embodiments of this application, the collision risk level of an obstacle is determined based on its type and motion information, and a preset distance is determined based on the obstacle risk level. Since the preset distance is positively correlated with the collision risk level, when the collision risk level is higher, the risk of a vehicle collision is greater. Therefore, when the distance between the vehicle and the obstacle is greater, the vehicle braking is controlled to reduce the risk of a vehicle collision, thereby improving vehicle safety.

[0099] In the above embodiments, if the vehicle is detected to be in a reversing state, the positional relationship between the vehicle and the target parking area is determined based on the vehicle's position and the target parking area. Based on this positional relationship, the reversing side braking function is controlled to be either active or deactivated. Since the likelihood of an obstacle passing behind the vehicle can be determined based on the positional relationship between the vehicle and the target parking area when the vehicle is in a reversing state, the need to activate the reversing side braking function is determined based on this likelihood, i.e., the reversing side braking function is controlled to be active or deactivated. Compared to the false triggering of the reversing side braking function caused by the reversing side braking function being continuously active in related technologies, this application controls the reversing side braking function to be active or deactivated based on the positional relationship between the vehicle and the target parking area. This ensures reasonable control of the reversing side braking function and effectively avoids unnecessary braking caused by false triggering of the reversing side braking function when there is no possibility of an obstacle passing, thereby improving the user's driving experience.

[0100] Figure 4 This is a schematic flowchart of another vehicle control method provided in the embodiments of this application.

[0101] Figure 4 The method 400 shown can be executed by the vehicle, or by the vehicle's vehicle controller, or by a processor or chip in the vehicle.

[0102] like Figure 4 The vehicle control method 400 shown includes S401 to S409, which are described in detail below.

[0103] S401, when the vehicle is in reverse, obtain the position of the vehicle and the target parking area of ​​the vehicle.

[0104] For example, the target parking area is the area where the vehicle is currently driving towards the parking space; the vehicle uses a camera to detect the parking lines corresponding to the parking space and determines the area formed by the parking lines as the target parking area.

[0105] For example, the vehicle determines its trajectory and real-time position based on the steering angle, wheel speed, vehicle slope and steering rate, combined with the vehicle dynamics model.

[0106] Alternatively, the implementation of S401 can be found in [reference needed]. Figure 3 The relevant descriptions of S310 will not be repeated here.

[0107] S402, determines the rear projection area of ​​the vehicle based on its position.

[0108] For example, the rear area of ​​the vehicle can be set according to the needs of safety and driving experience. If the need for a high driving experience is high, a smaller rear area can be set (for example, setting the area where the rear bumper is located as the rear area) to ensure that the side braking function is not accidentally triggered as much as possible, and to avoid the impact of unnecessary braking on the driving experience. If the need for vehicle safety is high, a larger rear area can be set (for example, setting the rear half of the vehicle body as the rear area) to ensure that the side braking function of the vehicle is kept off when the possibility of other obstacles passing is extremely low, and is kept on when there is a certain possibility of other obstacles passing.

[0109] S403, Is the rear projection area located within the target parking area? If yes, proceed to S404 to S406; if no, proceed to S407 to S409.

[0110] For example, it is determined whether the rear projection area is within the target parking area; if the rear projection area is within the target parking area, the reversing side braking function is turned off; if the rear projection area is outside the target parking area, the reversing side braking function is turned on.

[0111] Alternatively, the implementation methods of S402 and S403 can be found in [reference needed]. Figure 3 The relevant descriptions of the S320 will not be repeated here.

[0112] S404, the reversing side braking function is in the off state.

[0113] For example, if the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, it means that the distance between the vehicle in reversing state and the garage wall is small, and the possibility of obstacles passing through is low. Even if an obstacle is detected, it may be a phantom image formed by reflection from a strong reflective object within the vehicle's preset range. Therefore, the reversing side braking function is kept off to avoid false triggering of the reversing side braking function due to the false detection of obstacles, thereby improving the user's driving experience.

[0114] S405: If an obstacle is detected to the side or rear, determine the distance between the vehicle and the obstacle.

[0115] S406, if the distance is less than the preset distance, output a prompt message.

[0116] For example, when the reversing side braking function is off, if an obstacle is detected to the side and rear of the vehicle, the distance between the vehicle and the obstacle is determined. If the distance is less than a preset distance, a warning message is output through the RCTA function.

[0117] S407, the reversing side braking function is in the active state.

[0118] For example, if the positional relationship indicates that the rear projection area of ​​the vehicle is outside the target parking area, it means that the distance between the vehicle in reversing state and the garage wall is large, and the possibility of obstacles passing through is high. Therefore, the reversing side braking function is turned on to ensure that when the reversing side braking function detects an obstacle (other vehicles or pedestrians) passing from the side and rear of the vehicle, it controls the vehicle to brake in time to avoid collision between the vehicle and the obstacle.

[0119] S408: If an obstacle is detected to the side or rear, determine the distance between the vehicle and the obstacle.

[0120] S409: If the distance is less than the preset distance, control the vehicle to brake and output a prompt message.

[0121] For example, when the vehicle's reversing side braking function is activated, if an obstacle is detected to the side and rear of the vehicle and the distance between the vehicle and the obstacle is less than a preset distance, the vehicle will be controlled to brake and a prompt message will be output.

[0122] Optionally, the relevant descriptions of S404 to S409 can be found in [reference needed]. Figure 3 The relevant descriptions of the S330 will not be repeated here.

[0123] In the embodiments of this application, the reversing side braking function is determined to be either off or on by judging whether the rear projection area of ​​the vehicle is within the target parking area. When the rear projection area is within the target parking area and there is a high probability of an obstacle passing by the side and rear of the vehicle, the reversing side braking function is controlled to be off, avoiding false triggering of the reversing side braking function due to the false detection of obstacles, and controlling the vehicle to brake when braking is not needed, thus affecting the user's driving experience. When there is a high probability of an obstacle passing by the side and rear of the vehicle, the reversing side braking function is controlled to be on, reducing the risk of collision with obstacles passing by the side and rear when reversing. In addition, when the vehicle detects an obstacle and the distance is less than a preset distance, a prompt message is output to promptly alert the user, further improving vehicle safety.

[0124] The above text combined Figures 1 to 4 The vehicle control method provided in the embodiments of this application is described in detail below; the following will be combined with Figure 5 and Figure 6 The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus in the embodiments of this application can perform the various methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0125] Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0126] For example, such as Figure 5 As shown, the vehicle control device 500 includes: The acquisition module 510 is used to acquire the vehicle's position and the vehicle's target parking area if the vehicle is detected to be in a reversing state. The target parking area is the area where the vehicle is currently driving towards the parking space. The processing module 520 is used to determine the positional relationship between the vehicle and the target parking area based on the vehicle's location and the target parking area; and based on the positional relationship, to control the vehicle's reversing side braking function to be in an on or off state.

[0127] Optionally, as an embodiment, the processing module 520 is specifically used to: if the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, control the reversing side braking function to be in the off state; if the positional relationship indicates that the rear projection area of ​​the vehicle is outside the target parking area, control the reversing side braking function to be in the on state.

[0128] Optionally, as an embodiment, the processing module 520 is specifically used to: detect whether there is a strong reflective object within a preset range of the current vehicle; if a strong reflective object is detected and the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, control the reversing side braking function to be in the off state.

[0129] Optionally, as an embodiment, the processing module 520 is specifically used to: determine that there is a strong reflective object within the preset range if radar sensors at different locations in the vehicle detect different positions of the same target object within the preset range; or, determine that there is a strong reflective object within the preset range if the vehicle detects a target object within the preset range, and the target object is an object that does not conform to the current environmental information of the vehicle.

[0130] Optionally, as an embodiment, the processing module 520 is further configured to: detect whether there is an obstacle behind the side of the vehicle when the reversing side braking function is activated; if an obstacle is detected behind the side of the vehicle and the distance between the vehicle and the obstacle is less than a preset distance, control the vehicle to brake.

[0131] Optionally, as an embodiment, the processing module 520 is further configured to: determine the type of obstacle and the motion information of the obstacle; determine the collision risk level of the obstacle based on the type of obstacle and the motion information; and determine a preset distance based on the collision risk level, wherein the preset distance is positively correlated with the collision risk level.

[0132] Optionally, as an embodiment, the processing module 520 is specifically used to: determine the rear projection area of ​​the vehicle based on the vehicle's position; and determine the positional relationship between the rear projection area and the target parking area, wherein the positional relationship includes the rear projection area of ​​the vehicle being located within the target parking area, or the rear projection area of ​​the vehicle being located outside the target parking area.

[0133] Optionally, as an embodiment, the processing module 520 is further configured to: if the vehicle is detected to be in a reversing state, control the vehicle's reversing warning function to be activated; when an obstacle is detected to be present on the side or rear of the vehicle, output a prompt message through the reversing warning function, the prompt message being used to alert the user that there is an obstacle on the side or rear of the vehicle.

[0134] It should be noted that the control devices of the aforementioned vehicles are embodied in the form of functional units. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0135] For example, a "module" can be a software program, a hardware circuit, or a combination of both that implements the above functions. The hardware circuit may include an application-specific integrated circuit (ASIC), electronic circuits, a processor (e.g., a shared processor, a proprietary processor, or a group processor) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components that support the described functions.

[0136] Therefore, the units of the various examples described in the embodiments of this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0137] Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0138] For example, vehicle 600 includes processor 610, memory 620 and executable program code 630.

[0139] For example, vehicle 600 includes one or more processors 610 that can support the vehicle control method in the method embodiment. The processor 610 can be a general-purpose processor or a special-purpose processor. For example, processor 610 can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0140] For example, the processor 610 can be used to control the vehicle 600, execute software programs, and process data from the software programs. The vehicle 600 may also include a communication unit for receiving and transmitting signals.

[0141] For example, the vehicle 600 may include one or more memories 620, on which executable program code 630 is stored. The executable program code 630 can be run by the processor 610 to generate instructions, causing the processor 610 to execute the vehicle control method described in the above method embodiments according to the instructions.

[0142] Optionally, the memory 620 may also store data. Optionally, the processor 610 may also read data stored in the memory 620, which may be stored at the same memory address as the executable program code 630, or the data may be stored at a different memory address than the executable program code 630.

[0143] For example, the processor 610 and memory 620 can be configured separately or integrated together, for example, integrated on a system-on-chip (SOC) of the terminal device.

[0144] For example, the memory 620 can be used to store related programs of the vehicle control method provided in the embodiments of this application, and the processor 610 can be used to call the executable program code 630 stored in the memory 620 when controlling the vehicle to execute the vehicle control method of the embodiments of this application; for example, if it is detected that the vehicle is in a reversing state, the position of the vehicle and the target parking area of ​​the vehicle are obtained, the target parking area is the area where the parking space currently driven by the vehicle is located; based on the position of the vehicle and the target parking area of ​​the vehicle, the positional relationship between the vehicle and the target parking area is determined; based on the positional relationship, the reversing side braking function of the vehicle is controlled to be in an on state or an off state.

[0145] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method of any of the foregoing embodiments.

[0146] The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives, and magneto-optical disks, read-only memory (ROMs), random access memory (RAMs), erasable programmable read-only memory (EPROMs), electrically erasable programmable read-only memory (EEPROMs), dynamic random access memory (DRAMs), video random access memory (VRAMs), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0147] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method as described in the above embodiments.

[0148] In addition, the vehicle provided in the embodiments of this application may specifically be a chip, component or module. The vehicle may include a connected processor and a memory. The memory is used to store instructions. When the vehicle is running, the processor may call and execute the instructions to make the chip execute a vehicle control method in the above embodiments.

[0149] The vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding vehicle control method provided above, and will not be repeated here.

[0150] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. 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.

[0151] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0152] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, The control method includes: If the vehicle is detected to be in reverse, the position of the vehicle and the target parking area of ​​the vehicle are obtained, where the target parking area is the area where the vehicle is currently driving towards the parking space. Based on the vehicle's location and the vehicle's target parking area, determine the positional relationship between the vehicle and the target parking area; Based on the aforementioned positional relationship, the vehicle's reversing side braking function is controlled to be either active or deactivated.

2. The control method according to claim 1, characterized in that, The step of controlling the vehicle's reversing lateral braking function to be in an active or deactivated state based on the positional relationship includes: If the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, the reversing side braking function is controlled to be in the off state; If the positional relationship indicates that the rear projection area of ​​the vehicle is outside the target parking area, the reversing side braking function is activated.

3. The control method according to claim 2, characterized in that, If the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, controlling the reversing side braking function to be in the off state includes: Detect whether there are strong reflective objects within a preset range of the vehicle currently in use; If the strong reflective object is detected, and the positional relationship indicates that the rear projection area of ​​the vehicle is within the target parking area, the reversing side braking function is controlled to be turned off.

4. The control method according to claim 3, characterized in that, The detection of whether there are strong reflective objects within a preset range of the current vehicle includes: If radar sensors at different locations in the vehicle detect different positions of the same target within the preset range, it is determined that the strong reflective object exists within the preset range. Alternatively, if the vehicle detects a target object within the preset range, it determines that the strong reflective object exists within the preset range, and the target object is an object that does not conform to the vehicle's current environmental information.

5. The control method according to any one of claims 1 to 4, characterized in that, The control method further includes: When the reversing side braking function is activated, detect whether there is an obstacle behind the side of the vehicle; If an obstacle is detected to be behind or to the side of the vehicle, and the distance between the vehicle and the obstacle is less than a preset distance, the vehicle is controlled to brake.

6. The control method according to claim 5, characterized in that, The control method further includes: Determine the type of the obstacle and its motion information; Based on the type of obstacle and the motion information, the collision risk level of the obstacle is determined; The preset distance is determined based on the collision risk level, and the preset distance is positively correlated with the collision risk level.

7. The control method according to any one of claims 1 to 4, characterized in that, Determining the positional relationship between the vehicle and the target parking area based on the vehicle's location includes: The rear projection area of ​​the vehicle is determined based on the vehicle's position. Based on the rear projection area and the target parking area, the positional relationship is determined, wherein the positional relationship includes the rear projection area of ​​the vehicle being located within the target parking area, or the rear projection area of ​​the vehicle being located outside the target parking area.

8. The control method according to any one of claims 1 to 4, characterized in that, The control method further includes: If the vehicle is detected to be in reverse, control the vehicle's reversing warning function to be activated; When an obstacle is detected to the side or rear of the vehicle, the reversing warning function outputs a prompt message to alert the user that an obstacle exists to the side or rear of the vehicle.

9. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the control method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the control method as described in any one of claims 1 to 8.

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