A vehicle control method and related device

Abstract

The application provides a vehicle control method and related equipment. The vehicle control method comprises the following steps: in response to a driver of a target vehicle leaving driving of the target vehicle, determining road condition information of an environment in which the target vehicle is located; in response to determining that the target vehicle does not have a lane-changing parking condition based on the road condition information, determining a vehicle to be warned located behind the target vehicle; acquiring a target parameter of a road in which the vehicle to be warned is located, and determining a lateral offset distance of the vehicle to be warned relative to the target vehicle; and determining a target projection position in front of the vehicle to be warned according to the target parameter and the lateral offset distance, and projecting a risk identifier to the target projection position, the risk identifier being used to instruct the vehicle to be warned to avoid the target vehicle. In the application, the driving safety of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle control method and related equipment. Background Technology

[0002] As people's living standards improve, vehicles have become an indispensable means of transportation. However, drivers may lose control of the vehicle while driving due to making phone calls, checking their phones, or fatigue, which can lead to accidents.

[0003] In an exemplary technology, the vehicle is equipped with a driver assistance function. When it is detected that the driver has disengaged from driving the vehicle, the driver assistance function will take over the vehicle to perform autonomous driving.

[0004] However, when the driver assistance function makes decisions about driving the vehicle, these decisions require the driver's confirmation. But when the driver is no longer in control of the vehicle, there are situations where the driver cannot confirm the decisions made by the driver assistance function, which may lead to a safety accident between the current vehicle and other vehicles around it, meaning that the vehicle's driving safety is low. Summary of the Invention

[0005] Based on the above-mentioned technological status, this application provides a vehicle control method and related equipment to solve the problem of low vehicle driving safety.

[0006] To achieve the above-mentioned technical objectives, this application proposes the following technical solution:

[0007] In a first aspect, this application provides a vehicle control method, including:

[0008] In response to the driver of the target vehicle disengaging from driving the target vehicle, the road condition information of the environment in which the target vehicle is located is determined;

[0009] In response to determining, based on the road condition information, that the target vehicle does not meet the conditions for changing lanes and stopping, a vehicle to be warned located behind the target vehicle is identified;

[0010] Obtain the target parameters of the road where the vehicle to be warned is located, and determine the lateral offset distance of the vehicle to be warned relative to the target vehicle. The target parameters include at least one of slope and curvature.

[0011] Based on the target parameters and the lateral offset distance, a target projection position is determined in front of the vehicle to be warned, and a risk sign is projected onto the target projection position. The risk sign is used to instruct the vehicle to be warned to avoid the target vehicle.

[0012] In some implementations, determining the target projection position in front of the vehicle to be warned based on the target parameters and the lateral offset distance includes:

[0013] Based on the target parameters and the lateral offset distance, determine the projection position to be determined in front of the vehicle to be warned;

[0014] Determine the target distance between the vehicle to be warned and the target vehicle;

[0015] The target distance is compared with the preset minimum following distance to obtain the comparison result;

[0016] Based on the comparison results and the projection position to be determined, the target projection position is determined.

[0017] In some implementations, determining the target projection position based on the comparison result and the projection position to be determined includes:

[0018] In response to the comparison result indicating that the target distance is greater than or equal to the minimum following distance, the projection position to be determined is determined as the target projection position;

[0019] In response to the comparison result indicating that the target distance is less than the minimum following distance, the minimum projection distance of the target vehicle is determined based on the height and speed of the target vehicle, and the projection position corresponding to the minimum projection distance is determined on the road surface behind the target vehicle as the target projection position.

[0020] In some implementations, projecting the risk marker onto the target projection location includes:

[0021] Based on the target parameters and the target projection position, determine the first projection parameters of the projection device in the target vehicle;

[0022] Control the projection device to project a risk marker at the target projection position according to the first projection parameters.

[0023] In some implementations, projecting the risk marker onto the target projection location includes:

[0024] Obtain environmental parameters corresponding to the environment where the target vehicle is located, wherein the environmental parameters include at least one of ambient light intensity and visibility;

[0025] Based on the target projection location, the environmental parameters, and the current time, determine the second projection parameters of the projection device in the target vehicle;

[0026] Control the projection device to project a risk marker at the target projection position according to the second projection parameters.

[0027] In some implementations, before projecting the risk marker onto the target projection location, the method further includes:

[0028] Determine the type of driving risk for the target vehicle;

[0029] The projection elements are determined according to the driving risk type, and the projection elements include at least one of the following: projection content, projection shape, display method, projection color, and projection size.

[0030] A risk identifier is generated based on the projection elements.

[0031] In some implementations, determining the road condition information of the environment where the target vehicle is located includes:

[0032] Obtain the duration of time during which the driver is no longer in control of the target vehicle;

[0033] In response to the duration reaching a set duration, the road condition information of the environment where the target vehicle is located is determined.

[0034] Secondly, this application provides a vehicle, including:

[0035] The first determining module is used to determine the road condition information of the environment in which the target vehicle is located in response to the driver of the target vehicle disengaging from driving the target vehicle.

[0036] The second determining module is used to determine the vehicle to be warned located behind the target vehicle in response to determining, based on the road condition information, that the target vehicle does not have the conditions to change lanes and stop.

[0037] The acquisition module is used to acquire target parameters of the road where the vehicle to be warned is located, and to determine the lateral offset distance of the vehicle to be warned relative to the target vehicle. The target parameters include at least one of slope and curvature.

[0038] The third determining module is used to determine the target projection position in front of the vehicle to be warned based on the target parameters and the lateral offset distance, and to project the risk sign onto the target projection position. The risk sign is used to instruct the vehicle to be warned to avoid the target vehicle.

[0039] Thirdly, this application provides a vehicle including a memory and a processor, wherein,

[0040] The memory is connected to the processor, and the memory is used to store programs;

[0041] The processor is used to implement the vehicle control method as described in the first aspect or any implementation thereof by running a program in the memory.

[0042] Fourthly, this application provides a computer program product, which, when executed by a processor, implements the vehicle control method as described in the first aspect or any implementation thereof.

[0043] Fifthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle control method as described in the first aspect or any implementation thereof.

[0044] This application provides a vehicle control method and related equipment. When it is detected that the driver of the target vehicle has disengaged from driving the target vehicle and the target vehicle has no conditions to change lanes or stop, the target projection position is determined by parameters such as the slope and curvature of the road behind the target vehicle and the lateral offset distance relative to the target vehicle. A risk sign is projected at the target projection position to warn the vehicle to be warned to avoid the target vehicle. This allows the vehicle to be warned to take appropriate control based on the risk sign, avoiding a rear-end collision between the vehicle to be warned and the target vehicle, thus improving vehicle driving safety. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0046] Figure 1 A flowchart of a vehicle control method provided in this application embodiment Figure 1 .

[0047] Figure 2 A flowchart of a vehicle control method provided in this application embodiment Figure 2 .

[0048] Figure 3 A flowchart of a vehicle control method provided in this application embodiment Figure 3 .

[0049] Figure 4 A flowchart of a vehicle control method provided in this application embodiment Figure 4 .

[0050] Figure 5A flowchart of a vehicle control method provided in this application embodiment Figure 5 .

[0051] Figure 6 This is a schematic diagram of the functional modules of a vehicle provided in an embodiment of this application.

[0052] Figure 7 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] It should be noted that the user information (including but not limited to electrical equipment information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0055] As people's living standards improve, vehicles have become an indispensable means of transportation. However, drivers may lose control of the vehicle while driving due to making phone calls, checking their phones, or fatigue, which can lead to accidents.

[0056] In an exemplary technology, the vehicle is equipped with a driver assistance function. When it is detected that the driver has disengaged from driving the vehicle, the driver assistance function will take over the vehicle to perform autonomous driving.

[0057] However, when the driver assistance function makes decisions about driving the vehicle, these decisions require the driver's confirmation. But when the driver is no longer in control of the vehicle, there are situations where the driver cannot confirm the decisions made by the driver assistance function, which may lead to a safety accident between the current vehicle and other vehicles around it, meaning that the vehicle's driving safety is low.

[0058] In view of this, embodiments of this application aim to provide a vehicle control method and related equipment.

[0059] When it is detected that the driver of the target vehicle has disengaged from the vehicle and the target vehicle has no conditions to change lanes or stop, the target projection position is determined by parameters such as the slope and curvature of the road behind the vehicle to be warned, as well as the lateral offset distance relative to the target vehicle. A risk sign is then projected at the target projection position to warn the vehicle to be warned to avoid the target vehicle. This allows the vehicle to be warned to take appropriate control based on the risk sign, thus avoiding a rear-end collision between the vehicle to be warned and the target vehicle and improving driving safety.

[0060] The vehicle control method provided in this application is described below.

[0061] Reference Figure 1 , Figure 1 A flowchart of a vehicle control method provided in this application embodiment Figure 1 .like Figure 1 As shown, the vehicle control method provided in this embodiment includes:

[0062] Step S101: In response to the driver of the target vehicle disengaging from driving the target vehicle, determine the road condition information of the environment in which the target vehicle is located.

[0063] In this embodiment, the executing entity is the target vehicle. The target vehicle is equipped with a risk mitigation function (RMF). The risk mitigation function refers to the function that, when the driver continuously fails to respond to driver exit prompts or warnings, continuously performs lateral and longitudinal movement control on the vehicle based on the surrounding driving environment to assist the driver in parking the vehicle within the target parking area. The RMF function is a type of driver assistance feature.

[0064] Once the target vehicle's RMF (Real-Time Filter) function is activated, it will monitor the driver's status in real time and determine whether the driver has disengaged from driving the target vehicle. For example, the target vehicle is equipped with a camera that captures a full-body image of the driver. Based on this image, it determines whether the driver's gaze is directed towards the target vehicle and whether the driver's hands have left the steering wheel. When the driver's gaze is not directed towards the target vehicle, or when the driver's hands have left the steering wheel, it can be determined that the driver has disengaged from driving the target vehicle.

[0065] Furthermore, when the driver disengages from control of the target vehicle, the target vehicle obtains the duration of the driver's disengagement. If the duration reaches a preset time, the road condition information of the target vehicle's environment is determined, i.e., whether the target vehicle has conditions for changing lanes or stopping. The preset time can be a small threshold, for example, 5 seconds. In this way, the driver is allowed to disengage from the target vehicle for a very short time, avoiding the need to determine lane-changing and stopping conditions even after the driver takes over, thus saving the target vehicle's computing resources.

[0066] Step S102: In response to determining based on road condition information that the target vehicle does not meet the conditions for changing lanes and stopping, determine the vehicle to be warned located behind the target vehicle.

[0067] When the driver disengages from the target vehicle, the road condition information of the target vehicle's environment is determined. This road condition information includes the surrounding traffic and road conditions. The traffic conditions can be captured by the target vehicle's external camera and obtained through navigation software. Based on the road condition information, the target vehicle determines whether it has the conditions to change lanes or stop. For example, the road condition information determines whether there are vehicles parallel to the target vehicle in the right lane. If there are, the target vehicle does not have the conditions to overtake, i.e., it does not have the conditions to change lanes. The target vehicle then determines whether there is a temporary parking area at its location by checking the intersection information. If not, the target vehicle does not have the conditions to stop. When the target vehicle does not have the conditions to change lanes or stop, it does not have the conditions to change lanes or stop.

[0068] If a target vehicle cannot change lanes and stop, it will continue driving in its lane. However, because the driver is no longer in control, the target vehicle is prone to colliding with vehicles behind it, potentially causing a rear-end collision. Therefore, the target vehicle needs to warn vehicles behind it. The target vehicle uses an external camera to identify the vehicles behind it as the vehicles to be warned, and these vehicles are located in the same lane as the target vehicle.

[0069] Step S103: Obtain the target parameters of the road where the vehicle to be warned is located, and determine the lateral offset distance of the vehicle to be warned relative to the target vehicle. The target parameters include at least one of slope and curvature.

[0070] After identifying the vehicle to be warned, the target vehicle determines the target parameters of the road where the vehicle to be warned is located. These target parameters include at least one of gradient and curvature. Gradient and curvature can be determined by the location of the vehicle to be warned; for example, by inputting the location into navigation software, which contains information about the road's gradient and curvature. The target vehicle can obtain the gradient and curvature from the location of the vehicle to be warned. Curvature refers to the road's curvature. Furthermore, the target vehicle determines its own first direction of travel and the second direction of travel of the vehicle to be warned, and determines the angle between the first and second directions of travel, as well as the distance between the target vehicle and the vehicle to be warned. Using the angle and distance, the lateral offset distance of the vehicle to be warned relative to the target vehicle can be determined; alternatively, the lateral distance between the two vehicles can be used as the lateral offset distance. The lateral direction refers to the direction perpendicular to the direction of travel of the vehicle to be warned.

[0071] Step S104: Based on the target parameters and the lateral offset distance, determine the target projection position in front of the vehicle to be warned, and project the risk sign onto the target projection position. The risk sign is used to instruct the vehicle to be warned to avoid the target vehicle.

[0072] After determining the target parameters and lateral offset distance, the target projection position can be determined on the vehicle to be warned using the target parameters and lateral offset. The target projection position is the location where the risk sign is projected onto the target vehicle; the target projection position is the location within the area visible to the driver of the vehicle to be warned; and the target projection position is within the lane where the target vehicle is located.

[0073] In the first example, under normal circumstances, the driver of the vehicle to be warned has a line of sight beyond 3 meters on the road. This is because the vehicle's hood has a certain length, requiring the driver to see the road beyond it, and the vehicle has a certain height. By comparing the height with the length of the hood, the driver's line of sight on the road can be determined to be beyond 3 meters. As the road slope increases, the vehicle's projection on the road decreases, thus shortening the driver's line of sight, for example, to beyond 2.5 meters. Therefore, the minimum line of sight for the driver of the vehicle to be warned can be determined by the slope. For example, if the slope is 0 degrees, the minimum line of sight is 3 meters; if the slope is 30 degrees, the minimum line of sight is 2.5 meters. In other words, the minimum line of sight is determined by the slope and the mapping relationship between slope and minimum line of sight.

[0074] The target vehicle's re-entry curvature and lateral offset distance are used to determine the left and right boundaries of the driver's line of sight in the lane of the vehicle to be warned.

[0075] For example, the risk sign to be projected is a pattern of a certain size, which must be projected within the lane where the target vehicle is located. The curvature of the road where the vehicle to be warned is located indicates that the road curves outward, and the vehicle to be warned needs to turn right. The greater the curvature, the greater the right turn of the vehicle to be warned. Therefore, the left boundary of the visual area is the arc of the right turn of the vehicle to be warned. The vehicle to be warned is offset to the left relative to the target vehicle, with a lateral offset of 0.3m. The lateral distance between the right boundary of the visual area and the left side of the target vehicle is 0.3m.

[0076] The target vehicle's visual area for the driver can be constructed using the minimum line-of-sight distance, left boundary, and right boundary. Part or all of this visual area can then be used as the target projection location.

[0077] In the second example, the slope is used to determine the minimum line-of-sight distance for the driver in the vehicle to be warned, as explained in the previous example. The lateral offset distance is used to determine the boundary of the driver's line-of-sight area in the vehicle to be warned. For example, if the vehicle to be warned is offset to the left relative to the target vehicle, the left boundary of the line-of-sight area can be determined to be the line containing the left side of the vehicle to be warned. If the lateral offset is 0.3m, then the distance between the right and left boundaries of the line-of-sight area is 0.3m + the width of the target vehicle. Therefore, the distance between the target projection position and the driver must exceed the minimum line-of-sight distance, and the target projection position must be within the line-of-sight area.

[0078] In the third example, the line-of-sight area can be determined by the curvature and lateral offset distance, as explained in the first example. The target projection position simply needs to be within the line-of-sight area.

[0079] The target vehicle is equipped with projection equipment, such as a projector or laser component. The target vehicle controls the projection equipment to project a risk sign at the target location. The risk sign is used to instruct other vehicles to avoid the target vehicle. Examples of risk signs include the text "Vehicle ahead is unmanned, please detour," and traffic warning signs such as traffic cones or vehicle warning signs.

[0080] In this embodiment, when it is detected that the driver of the target vehicle has disengaged from driving the target vehicle and the target vehicle has no conditions to change lanes or stop, the target projection position is determined by parameters such as the slope and curvature of the road behind the vehicle to be warned, as well as the lateral offset distance relative to the target vehicle. A risk sign is then projected at the target projection position to warn the vehicle to be warned to avoid the target vehicle. This allows the vehicle to be warned to take appropriate control based on the risk sign, avoiding a rear-end collision between the vehicle to be warned and the target vehicle, thus improving the driving safety of the vehicle.

[0081] Figure 2 A flowchart of a vehicle control method provided in this application embodiment Figure 2 ,based on Figure 1 In the embodiment shown, step S104 includes:

[0082] Step S201: Determine the projection position to be determined in front of the vehicle to be warned based on the target parameters and the lateral offset distance.

[0083] In this embodiment, the target vehicle determines the projection position in front of the vehicle to be warned based on the target parameters and the lateral offset distance, which is used as the projection area to be determined. The specific process of determining the projection area to be determined is described above and will not be repeated here.

[0084] Step S202: Determine the target distance between the vehicle to be warned and the target vehicle.

[0085] Step S203: Compare the target distance with the preset minimum following distance to obtain the comparison result.

[0086] The target vehicle determines the distance between itself and the vehicle to be warned by locating the target vehicle and comparing the located position with the target vehicle's current position. This distance is defined as the target distance. A minimum following distance is set for the target vehicle; this minimum following distance refers to the minimum distance between the target vehicle and any vehicle behind it. The target vehicle compares its distance to the target distance and the minimum following distance to obtain the comparison result.

[0087] Step S204: Determine the target projection position based on the comparison results and the projection position to be determined.

[0088] After obtaining the comparison results, the target vehicle determines the target projection position based on the comparison results and the projection position to be determined.

[0089] In one example, if the comparison result is that the target distance is greater than or equal to the minimum following distance, then the distance between the vehicle to be warned and the target vehicle is far enough that there is no need to correct the determined projection position, and the determined projection position is taken as the target projection position.

[0090] In another example, when the comparison result shows that the target distance is less than the minimum following distance, and the vehicle to be warned is relatively close to the target vehicle, it is necessary to determine the minimum projection distance of the target vehicle based on the height of the target vehicle and the speed of the vehicle to be warned. The projection position on the road behind the target vehicle corresponding to the minimum projection distance is then used as the target projection position. For example, the projection device is installed on the top of the target vehicle to facilitate projection. When the projection equipment projects, it must ensure that the projected pattern does not fall on the rear of the target vehicle. The projection point of the projection equipment and the rear of the vehicle form a projection direction. This projection direction intersects with the road behind the target vehicle at a boundary line, which is defined as the first boundary line. Considering the close distance between the target vehicle and the vehicle to be warned, the speed of the vehicle to be warned must be taken into account when projecting the risk sign. The target vehicle determines the speed difference between itself and the vehicle to be warned. Multiplying the speed difference by the delay time of the projection risk sign by the projection equipment yields a distance. Subtracting this distance from the target distance gives the minimum projection distance. The minimum projection distance, the boundary line of the lane where the target vehicle is located, the first boundary line, and the two side boundaries of the lane constitute an area, which is the target projection position.

[0091] In this embodiment, the projection position to be determined is determined based on the target parameters and the lateral offset distance. Then, based on the minimum following distance and the target distance between the vehicle to be warned and the target vehicle, the projection position to be determined is corrected to accurately determine the target projection position.

[0092] Figure 3 A flowchart of a vehicle control method provided in this application embodiment Figure 3 ,based on Figure 1 or Figure 2 In the illustrated embodiment, step 104 includes:

[0093] Step S301: Determine the first projection parameters of the projection device in the target vehicle based on the target parameters and the target projection position.

[0094] In this embodiment, since the road where the vehicle to be warned is located has a certain slope and curvature, if the target vehicle's projection device projects the risk sign, the slope and curvature will distort the projected risk sign, which may prevent the driver in the vehicle to be warned from recognizing the risk sign. Therefore, the target vehicle can determine the projection parameters of the projection device based on the target parameters and the target projection position; these projection parameters are defined as the first projection parameters.

[0095] For example, the target vehicle first determines the basic projection parameters of the projection device based on the target projection position. The basic projection parameters are, for example, the distance between each light point projected to the target projection position, and each light point constitutes a risk mark at the target projection position.

[0096] When the slope of the road where the vehicle to be warned is located exceeds a threshold, the distance between light spots on the road approaching the vehicle will be too large. Therefore, the distance between such light spots is reduced, which means reducing the projection distance between the first light spots. Assuming the target projection position is a region, the region is divided into upper and lower sub-regions along the direction of the road where the vehicle to be warned is located. Light spots in the sub-region closer to the vehicle to be warned are defined as the first light spot, and light spots in the sub-region farther away from the vehicle to be warned are defined as the second light spot.

[0097] When the curvature rate exceeds the curvature threshold, it can be determined that the vehicle to be warned needs to make a large turn. One side of the target projection position is an arc. If the light spot is projected along this arc, the side of the risk sign will also be an arc, causing distortion of the corresponding pattern. To address this, the coordinates of each light spot at the target projection position are first determined based on the target projection position. When the curvature rate exceeds the curvature threshold, some light spots are translated. For example, if the vehicle to be warned turns left along the lane's arc (while remaining in its original lane), the right boundary of the area corresponding to the target projection position is an arc. Therefore, the coordinates of all light spots below the first row (the first row of light spots refers to the row of light spots furthest from the vehicle to be warned) are translated to the right, ensuring that the x-coordinates of the rightmost light spots are the same.

[0098] It is understandable that the target vehicle determines the basic projection parameters based on the target projection position, then translates the coordinates of the light points in the basic projection parameters based on the curvature, and adjusts the distance between the light points in the basic projection parameters based on the slope, thus obtaining the first projection parameters.

[0099] Step S302: Control the projection device to project the risk sign at the target projection position according to the first projection parameters.

[0100] After obtaining the first projection parameters, the control projection device projects the risk sign at the target projection position according to the first projection parameters.

[0101] In this embodiment, the first projection parameters of the projection device are determined by the slope, curvature and target projection position, and the projection device is controlled to project the risk sign at the target projection position according to the first projection device, so as to avoid the risk sign from being distorted.

[0102] Figure 4 A flowchart of a vehicle control method provided in this application embodiment Figure 3 ,based on Figures 1 to 3 In any of the embodiments shown, step 104 includes:

[0103] Step S401: Obtain environmental parameters corresponding to the environment where the target vehicle is located. The environmental parameters include at least one of ambient light intensity and visibility.

[0104] In this embodiment, the target vehicle obtains environmental parameters corresponding to its own environment, including at least one of ambient light intensity and visibility.

[0105] Ambient light intensity can be detected by a photosensor in the target vehicle. The target vehicle can send a visibility acquisition command to the weather platform, which will then send the visibility information back to the target vehicle.

[0106] Step S402: Determine the second projection parameters of the projection device in the target vehicle based on the target projection position, environmental parameters, and the current time.

[0107] After obtaining the environmental parameters, the second projection parameters of the projection device in the target vehicle are determined based on the environmental parameters, the target projection position, and the current time.

[0108] For example, the initial projection brightness is determined by the target projection position. If the current time indicates that it is daytime, the natural light of daytime will directly dilute the projection brightness. Therefore, the initial projection brightness needs to be increased to obtain an intermediate projection brightness. If the visibility is less than the visibility threshold and / or the ambient light intensity is greater than the brightness threshold, the intermediate projection brightness needs to be further increased to obtain the second projection parameter. In addition, the projection wavelength can be adjusted by the ambient light intensity. If the ambient light intensity is greater than the brightness threshold, it can be determined that the current weather is sunny. Under sunlight, green and purple are the colors most easily seen by the human eye. Therefore, the wavelength of the light spot output by the projection device should be purple or green.

[0109] If the current time indication is nighttime, there is no need to correct the initial projection brightness. If the ambient light intensity is less than the brightness threshold, the initial projection brightness needs to be reduced to avoid causing glare to the driver in the vehicle being warned.

[0110] Step S403: Control the projection device to project the risk sign at the target projection position according to the second projection parameters.

[0111] Once the second projection parameters are determined, the projection equipment can be controlled to project the risk marker at the target projection position according to the second projection parameters.

[0112] In this embodiment, the second projection parameters of the projection device are determined by environmental parameters, target projection position and current time, thereby controlling the projection device to project risk signs at the target projection position according to the second projection parameters.

[0113] Figure 5 A flowchart of a vehicle control method provided in this application embodiment Figure 3 ,based on Figures 1 to 4 In any of the embodiments shown, prior to step 104, the method further includes:

[0114] Step S501: Determine the driving risk type of the target vehicle.

[0115] Step S502: Determine the projection elements according to the driving risk type. The projection elements include at least one of the following: projection content, projection shape, display method, projection color, and projection size.

[0116] In this embodiment, the risk sign is a warning icon indicating that there is an abnormality in the vehicle ahead, thus alerting the vehicle behind. The risk sign pattern can be a traffic cone, a warning sign pattern, warning text, etc. The risk sign pattern can be identified by the driving risk type of the target vehicle. This can be determined by the target vehicle's current speed and the type of road. For example, if the road is a highway and the target vehicle's current speed is greater than a first threshold, the driving risk type is slightly dangerous; if the speed is between a second threshold and the first threshold, the driving risk type is moderately dangerous; and if the speed is less than the second threshold, it is extremely dangerous, as the second threshold is less than the first threshold.

[0117] After determining the driving risk type, projection elements are determined based on the driving risk type. Projection elements include at least one of the following: projection content, projection shape, display method, projection size, and projection color. For example, if the driving risk type is extremely dangerous, the projection color is red, the projection content is text and warning icons, the projection shape is a triangle, the display method is laser projection, and the projection size is large. If the driving risk type is moderately dangerous, the projection color is yellow, the projection content is text or warning icons, and other projection elements are unrestricted. If the driving risk type is slightly dangerous, the projection color can be green, and other projection elements are unrestricted.

[0118] Step S503: Generate risk labels based on the projection elements.

[0119] After determining the projection elements, the projection equipment is controlled to generate risk labels, and then the projection equipment is controlled to project the risk labels onto the target projection location.

[0120] In this embodiment, the target vehicle determines the projection elements based on its driving risk type, and then generates a risk label that matches the driving risk type based on the projection elements.

[0121] Corresponding to the vehicle control method described above, this application also provides a vehicle. Figure 6 This is a schematic diagram of a vehicle module provided in an embodiment of this application. The vehicle 600 provided in this embodiment includes:

[0122] The first determining module 610 is used to determine the road condition information of the environment in which the target vehicle is located in response to the driver of the target vehicle disengaging from driving the target vehicle.

[0123] The second determining module 620 is used to determine the vehicle to be warned located behind the target vehicle in response to determining that the target vehicle does not meet the conditions for changing lanes and stopping based on road condition information.

[0124] The acquisition module 630 is used to acquire the target parameters of the road where the vehicle to be warned is located, and to determine the lateral offset distance of the vehicle to be warned relative to the target vehicle. The target parameters include at least one of slope and curvature.

[0125] The third determining module 640 is used to determine the target projection position in front of the vehicle to be warned based on the target parameters and the lateral offset distance, and to project the risk sign onto the target projection position. The risk sign is used to instruct the vehicle to be warned to avoid the target vehicle.

[0126] In some implementations, vehicle 600 is also used for:

[0127] Based on the target parameters and the lateral offset distance, determine the projection position in front of the vehicle to be warned;

[0128] Determine the target distance between the vehicle to be warned and the target vehicle;

[0129] The target distance is compared with the preset minimum following distance to obtain the comparison result;

[0130] Based on the comparison results and the projection position to be determined, the target projection position is determined.

[0131] In some implementations, vehicle 600 is also used for:

[0132] In response to the comparison result indicating that the target distance is greater than or equal to the minimum following distance, the projection position to be determined is determined as the target projection position;

[0133] In response to the comparison result indicating that the target distance is less than the minimum following distance, the minimum projection distance of the target vehicle is determined based on the height and speed of the target vehicle, and the projection position corresponding to the minimum projection distance is determined on the road surface behind the target vehicle as the target projection position.

[0134] In some implementations, vehicle 600 is also used for:

[0135] Based on the target parameters and the target projection position, determine the first projection parameters of the projection device in the target vehicle;

[0136] Control the projection equipment to project the risk sign at the target projection position according to the first projection parameters.

[0137] In some implementations, vehicle 600 is also used for:

[0138] Obtain environmental parameters corresponding to the environment where the target vehicle is located. The environmental parameters include at least one of ambient light intensity and visibility.

[0139] Based on the target projection location, environmental parameters, and current time, determine the second projection parameters of the projection device in the target vehicle;

[0140] Control the projection equipment to project the risk sign at the target projection position according to the second projection parameters.

[0141] In some implementations, vehicle 600 is also used for:

[0142] Determine the type of driving risk for the target vehicle;

[0143] The projection elements are determined based on the type of driving risk. The projection elements include at least one of the following: projection content, projection shape, display method, projection color, and projection size.

[0144] Generate risk labels based on the projected elements.

[0145] In some implementations, vehicle 600 is also used for:

[0146] Obtain the duration during which the driver is no longer in control of the target vehicle;

[0147] In response to the set duration, the road condition information of the target vehicle's environment is determined.

[0148] The vehicles and vehicle control methods provided in the above embodiments of this application belong to the same concept and can execute the vehicle control methods provided in any of the above embodiments of this application, possessing the corresponding functional modules and beneficial effects for executing the vehicle control methods. Technical details not described in detail in this embodiment can be found in the specific processing content of the vehicle control methods provided in the above embodiments of this application, and will not be repeated here.

[0149] The functions implemented by the various modules in the vehicle can be implemented by the same or different processors, and this application embodiment does not limit this.

[0150] It should be understood that the modules in the above-described vehicle can be implemented by a processor calling firmware. For example, the system includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each module of the device. The processor can be a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal to the device or external to the system. Alternatively, the modules in the system can be implemented as hardware circuits. By designing the hardware circuits, some or all of the module functions can be implemented. The hardware circuit can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above modules are implemented by designing the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented by a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files to implement the functions of some or all of the above modules. All modules of the above-described vehicle can be implemented entirely by a processor calling firmware, entirely by hardware circuits, or partially by a processor calling firmware with the remaining parts implemented by hardware circuits.

[0151] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above modules. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0152] As can be seen, each module in the above vehicle can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0153] Furthermore, the modules in the above-mentioned vehicle can be integrated in whole or in part, or they can be implemented independently. In one implementation, these modules are integrated together and implemented in the form of a System-on-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the modules of the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0154] This application provides a structural schematic diagram of a vehicle, see [link]. Figure 7 As shown, the vehicle includes a memory 700 and a processor 710; wherein the memory 700 is connected to the processor 710 and is used to store programs; the processor 710 is used to implement the vehicle control method disclosed in any of the above embodiments by running the programs stored in the memory 700.

[0155] Specifically, the aforementioned vehicle may also include: a bus, a communication interface 720, an input device 730, and an output device 740. The electronic equipment may also include a data transceiver module, an image monitoring module, and a signal monitoring module.

[0156] The processor 710, memory 700, communication interface 720, input device 730, and output device 740 are interconnected via a bus. Among them:

[0157] A bus can include a pathway for transmitting information between various components in a vehicle.

[0158] The processor 710 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0159] The processor 710 may include a main processor, as well as a baseband chip, modem, etc.

[0160] The memory 700 stores a program that executes the technical solution of this invention, and may also store an operating system and other key business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 700 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0161] Input device 730 may include a device for receiving user input data and information, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0162] Output device 740 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0163] The communication interface 720 may include a device that uses any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0164] The processor 710 executes the program stored in the memory 700 and calls other devices, which can be used to implement the various steps of any of the vehicle control methods provided in the above embodiments of this application.

[0165] It should be noted that the vehicle can be an in-vehicle terminal, mobile phone, wearable device or server, etc.; or it can be a vehicle that includes an in-vehicle terminal, etc.

[0166] This application also proposes a chip, which includes a processor and a data interface. The processor reads and runs a program stored in the memory through the data interface to execute the vehicle control method described in any of the above embodiments. For details of the processing and its beneficial effects, please refer to the above-described embodiments of the vehicle control method.

[0167] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the vehicle control methods according to various embodiments of this application as described in any of the above embodiments of this specification.

[0168] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the power device, as a standalone firmware package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0169] Furthermore, embodiments of this application may also be storage media storing computer programs, which are executed by a processor to perform the steps of the vehicle control method according to various embodiments of this application described in any of the above embodiments of this specification, specifically implementing the steps of the above vehicle control method.

[0170] For the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0171] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0172] The steps in the methods of the various embodiments of this application can be adjusted, merged, or deleted in order according to actual needs, and the technical features described in each embodiment can be replaced or combined.

[0173] The units of the apparatus in the various embodiments of this application can be merged, divided, and deleted according to actual needs.

[0174] It should be understood that the disclosed terminals, devices, and methods can be implemented in other ways, given the several embodiments provided in this application. For example, the terminal embodiments described above are merely illustrative. For instance, the division of modules or sub-modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple sub-modules or modules may be combined or integrated into another module, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0175] The modules or submodules described as separate components may or may not be physically separate. The components that constitute a module or submodule may or may not be physical modules or submodules; that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules can be selected to achieve the purpose of this embodiment's solution, depending on actual needs.

[0176] Furthermore, the functional modules or sub-modules in the various embodiments of this application can be integrated into one processing module, or each module or sub-module can exist physically separately, or two or more modules or sub-modules can be integrated into one module. The integrated modules or sub-modules described above can be implemented in hardware or as firmware functional modules or sub-modules.

[0177] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer firmware, or a combination of both. To clearly illustrate the interchangeability of hardware and firmware, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or firmware 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.

[0178] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly using hardware, firmware units executed by a processor, or a combination of both. The firmware unit can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0179] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0180] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that, include: In response to the driver of the target vehicle disengaging from driving the target vehicle, the road condition information of the environment in which the target vehicle is located is determined; In response to determining, based on the road condition information, that the target vehicle does not meet the conditions for changing lanes and stopping, a vehicle to be warned located behind the target vehicle is identified; Obtain the target parameters of the road where the vehicle to be warned is located, and determine the lateral offset distance of the vehicle to be warned relative to the target vehicle. The target parameters include at least one of slope and curvature. Based on the target parameters and the lateral offset distance, a projection position to be determined is determined in front of the vehicle to be warned, the target distance between the vehicle to be warned and the target vehicle is determined, the target distance is compared with a preset minimum following distance to obtain a comparison result, if the comparison result indicates that the target distance is less than the minimum following distance, the minimum projection distance of the target vehicle is determined based on the height and speed of the target vehicle, and the projection position corresponding to the minimum projection distance is determined on the road surface behind the target vehicle as the target projection position; The risk sign is projected onto the target projection position, and the risk sign is used to instruct the vehicle to be warned to avoid the target vehicle.

2. The vehicle control method according to claim 1, characterized in that, Also includes: In response to the comparison result indicating that the target distance is greater than or equal to the minimum following distance, the undetermined projection position is determined as the target projection position.

3. The vehicle control method according to claim 1, characterized in that, The step of projecting the risk marker onto the target projection location includes: Based on the target parameters and the target projection position, determine the first projection parameters of the projection device in the target vehicle; Control the projection device to project a risk marker at the target projection position according to the first projection parameters.

4. The vehicle control method according to claim 1, characterized in that, The step of projecting the risk marker onto the target projection location includes: Obtain environmental parameters corresponding to the environment where the target vehicle is located, wherein the environmental parameters include at least one of ambient light intensity and visibility; Based on the target projection location, the environmental parameters, and the current time, determine the second projection parameters of the projection device in the target vehicle; Control the projection device to project a risk marker at the target projection position according to the second projection parameters.

5. The vehicle control method according to any one of claims 1-4, characterized in that, Before projecting the risk marker onto the target projection location, the method further includes: Determine the type of driving risk for the target vehicle; The projection elements are determined according to the driving risk type, and the projection elements include at least one of the following: projection content, projection shape, display method, projection color, and projection size. A risk identifier is generated based on the projection elements.

6. The vehicle control method according to any one of claims 1-4, characterized in that, The determination of the road condition information of the environment where the target vehicle is located includes: Obtain the duration of time during which the driver is no longer in control of the target vehicle; In response to the duration reaching a set duration, the road condition information of the environment where the target vehicle is located is determined.

7. A vehicle, characterized in that, include: The first determining module is used to determine the road condition information of the environment in which the target vehicle is located in response to the driver of the target vehicle disengaging from driving the target vehicle. The second determining module is used to determine the vehicle to be warned located behind the target vehicle in response to determining, based on the road condition information, that the target vehicle does not have the conditions to change lanes and stop. The acquisition module is used to acquire target parameters of the road where the vehicle to be warned is located, and to determine the lateral offset distance of the vehicle to be warned relative to the target vehicle. The target parameters include at least one of slope and curvature. The third determining module is used to determine a projection position to be determined in front of the vehicle to be warned based on the target parameters and the lateral offset distance, determine the target distance between the vehicle to be warned and the target vehicle, compare the target distance with a preset minimum following distance to obtain a comparison result, if the comparison result indicates that the target distance is less than the minimum following distance, determine the minimum projection distance of the target vehicle based on the height and speed of the target vehicle, and determine the projection position corresponding to the minimum projection distance on the road surface behind the target vehicle as the target projection position, and project the risk sign onto the target projection position, the risk sign being used to instruct the vehicle to be warned to avoid the target vehicle.

8. A vehicle, characterized in that, Including memory and processor, among which, The memory is connected to the processor, and the memory is used to store programs; The processor is used to implement the vehicle control method as described in any one of claims 1-6 by running the program in the memory.

9. A computer program product, characterized in that, When the computer program is executed by the processor, it implements the vehicle control method as described in any one of claims 1-6.

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