Vehicle detection method and device, vehicle, storage medium and product

Abstract

The invention relates to a vehicle detection method and device, a vehicle, a storage medium and a product, and relates to the technical field of vehicles or the field of intelligent cabins, the method comprises the steps that a multi-vehicle driving mode joining application is sent, distributed vehicle identification information is acquired, a multi-vehicle driving mode comprises a mode that at least two vehicles are driven in the same driving area, and the multi-vehicle driving mode joining application comprises a mode that at least two vehicles are driven in the same driving area; the method comprises the steps of periodically sending a broadcast message comprising vehicle identification information, starting broadcast scanning, responding to the broadcast message of a multi-vehicle driving mode scanned through broadcast, determining that a vehicle monitoring triggering condition is met according to the broadcast message, starting vehicle monitoring, and assisting driving in the multi-vehicle driving mode according to monitoring information. Whether the vehicle monitoring is started or not is determined in a broadcast scanning mode, and resource waste caused by starting the vehicle monitoring all the time is avoided.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, and particularly relates to a vehicle detection method and device, vehicle, storage medium and product. BACKGROUND

[0002] With the development of the times, vehicles have become an indispensable part of people's lives. Grouping or racing scenes are becoming more and more frequent, and the requirements for vehicle performance communication are becoming higher and higher.

[0003] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0004] To overcome the problems in the related art, the present disclosure provides a vehicle detection method, device, vehicle, storage medium and product.

[0005] According to a first aspect of an embodiment of the present disclosure, a vehicle detection method is provided, comprising: sending a multi-vehicle driving mode joining application and obtaining assigned vehicle identification information; the multi-vehicle driving mode includes a mode in which at least two vehicles drive in the same driving area; periodically sending a broadcast message including vehicle identification information; and starting broadcast scanning; in response to a multi-vehicle driving mode broadcast message scanned through broadcast scanning, determining that a vehicle monitoring condition is met according to the broadcast message, starting vehicle monitoring, and assisting driving in the multi-vehicle driving mode according to monitoring information.

[0006] In an embodiment of the present disclosure, sending a multi-vehicle driving mode joining application and obtaining assigned vehicle identification information comprises: sending a multi-vehicle driving mode joining application to a control console, obtaining a joining notification sent by the control console and vehicle identification information assigned by the control console.

[0007] In an embodiment of the present disclosure, periodically sending a broadcast message including vehicle identification information further comprises: a mode identifier, the mode identifier including a multi-vehicle driving mode.

[0008] In an embodiment of the present disclosure, in response to a multi-vehicle driving mode broadcast message scanned through broadcast scanning, comprises: receiving a broadcast message through broadcast scanning; in response to the mode identifier in the broadcast message corresponding to the multi-vehicle driving mode, determining that the broadcast message is a multi-vehicle driving mode broadcast message.

[0009] In an embodiment of the present disclosure, the method further comprises: In response to the mode identifier in the broadcast message not corresponding to the multi-vehicle driving mode, discarding the broadcast message.

[0010] In one embodiment of the present disclosure, determining that the trigger vehicle monitoring condition is met according to the broadcast message comprises: Determining that the relative distance meets the trigger vehicle monitoring condition according to the signal strength of the broadcast message.

[0011] In one embodiment of the present disclosure, periodically sending the broadcast message comprising the vehicle identifier information further comprises: Information identifying the location, the information identifying the location being used to determine the relative distance.

[0012] In one embodiment of the present disclosure, determining that the trigger vehicle monitoring condition is met according to the broadcast message comprises: Determining that the relative distance meets the trigger vehicle monitoring condition according to the signal strength of the broadcast message; And / or, determining that the relative distance meets the trigger vehicle monitoring condition according to the information identifying the location.

[0013] In one embodiment of the present disclosure, determining that the relative distance meets the trigger vehicle monitoring condition comprises: The relative distance meets a preset range and / or the relative distance trend meets a preset condition.

[0014] In one embodiment of the present disclosure, starting the vehicle monitoring comprises: Turning on a camera and / or a perception sensor to monitor the location information of the target vehicle.

[0015] In one embodiment of the present disclosure, assisting driving in the multi-vehicle driving mode according to the monitoring information comprises: Displaying the monitoring information to provide driving reference; Alerting the location information of the target vehicle according to the monitoring information; And / or, assisting driving strategy adjustment in the multi-vehicle driving mode according to the monitoring information.

[0016] In one embodiment of the present disclosure, periodically sending the broadcast message comprising the vehicle identifier information further comprises: Identifier information of a user corresponding to the target vehicle, the identifier information of the user being used to alert the user corresponding to the target vehicle.

[0017] In one embodiment of the present disclosure, the method further comprises: In the vehicle monitoring process, in response to the multi-vehicle driving mode broadcast message scanned through the broadcast, determining that a vehicle monitoring end condition is met according to the broadcast message, and closing the vehicle monitoring.

[0018] In one embodiment of this disclosure, determining that the vehicle monitoring termination condition is met based on a broadcast message includes: Based on the signal strength of the broadcast message, determine the relative distance to meet the vehicle monitoring termination condition; And / or, based on the information of the marked location, determine the relative distance to meet the vehicle monitoring termination condition.

[0019] In one embodiment of this disclosure, determining that the relative distance satisfies the vehicle monitoring termination condition includes: The relative distance does not meet the preset range and / or the relative distance trend does not meet the preset conditions.

[0020] In one embodiment of this disclosure, the multi-vehicle driving mode includes a racing mode.

[0021] According to a fourth aspect of the present disclosure, a vehicle detection method is provided, comprising: Upon receiving a multi-vehicle driving mode request, determine the vehicle identification information and send the vehicle identification information to the vehicle. Maintain vehicle information for multi-vehicle driving modes.

[0022] In one embodiment of this disclosure, determining vehicle identification information includes: The vehicle identification information is determined based on the timestamp of the vehicle entering the track or a random competition mechanism.

[0023] In one embodiment of this disclosure, maintaining vehicle information for multi-vehicle driving modes includes: Update vehicle information in response to a vehicle joining or leaving multi-vehicle driving mode.

[0024] According to a third aspect of the present disclosure, a vehicle detection device is provided, comprising: The first sending module is used to send a multi-vehicle driving mode joining application and obtain the allocated vehicle identification information; the multi-vehicle driving mode includes a mode in which at least two vehicles are driving in the same driving area; The second sending module is used to periodically send broadcast messages including vehicle identification information and to initiate broadcast scanning. The determination module is used to respond to broadcast messages of multi-vehicle driving modes detected by broadcast scanning, determine whether the conditions for triggering vehicle monitoring are met based on the broadcast messages, start vehicle monitoring, and assist driving in multi-vehicle driving modes based on the monitoring information.

[0025] In one embodiment of this disclosure, the first transmitting module includes: The first sending unit is used to send a multi-vehicle driving mode joining application to the console, and to obtain the joining notification sent by the console and the assigned vehicle identification information.

[0026] In one embodiment of this disclosure, the second transmitting module further includes: The second transmitting unit is used for mode identification, which includes multi-vehicle driving modes.

[0027] In one embodiment of this disclosure, the determining module includes: The first receiving unit is used to receive broadcast messages through broadcast scanning; The first determining unit is used to determine that the broadcast message is a broadcast message of a multi-vehicle driving mode in response to the mode identifier in the broadcast message corresponding to the multi-vehicle driving mode.

[0028] In one embodiment of this disclosure, the apparatus further includes: The discard module is used to discard broadcast messages in response to the mode identifier in the broadcast message not corresponding to the multi-vehicle driving mode.

[0029] In one embodiment of this disclosure, the determining module includes: The second determining unit is used to determine whether the relative distance meets the conditions for triggering vehicle monitoring based on the signal strength of the broadcast message.

[0030] In one embodiment of this disclosure, the second transmitting module includes: The third transmitting unit is used to identify location information, which is used to determine the relative distance.

[0031] In one embodiment of this disclosure, the determining module includes: The third determining unit is used to determine whether the relative distance meets the conditions for triggering vehicle monitoring based on the signal strength of the broadcast message; And / or, based on the information of the marked location, determine that the relative distance meets the conditions for triggering vehicle monitoring.

[0032] In one embodiment of this disclosure, the determining module includes: The fourth determining unit is used to determine whether the relative distance meets a preset range and / or whether the relative distance trend meets preset conditions.

[0033] In one embodiment of this disclosure, the determining module includes: The activation unit is used to activate the camera and / or sensing sensors to monitor the location information of the target vehicle.

[0034] In one embodiment of this disclosure, the determining module includes: The display unit is used to display monitoring information to provide driving reference; The reminder unit is used to remind the target vehicle of its location information; And / or, in multi-vehicle driving mode, adjust the assisted driving strategy based on monitoring information.

[0035] In one embodiment of this disclosure, the second transmitting module includes: The fourth sending unit is used to send identification information of the user corresponding to the target vehicle. The user's identification information is used to remind the user corresponding to the target vehicle.

[0036] In one embodiment of this disclosure, the apparatus further includes: The termination module is used during vehicle monitoring to respond to broadcast messages of multi-vehicle driving modes detected through broadcast scanning, determine whether the conditions for terminating vehicle monitoring are met based on the broadcast messages, and then shut down vehicle monitoring.

[0037] In one embodiment of this disclosure, the termination module includes: The fifth determining unit is used to determine whether the relative distance meets the vehicle monitoring termination condition based on the signal strength of the broadcast message. And / or, based on the information of the marked location, determine the relative distance to meet the vehicle monitoring termination condition.

[0038] In one embodiment of this disclosure, the fifth determining unit includes: Identify sub-units for situations where the relative distance does not meet the preset range and / or the relative distance trend does not meet the preset conditions.

[0039] In one embodiment of this disclosure, the multi-vehicle driving mode includes a racing mode.

[0040] According to a fourth aspect of the present disclosure, a vehicle detection device is provided, comprising: The third sending module is used to respond to the received multi-vehicle driving mode application, determine the vehicle identification information, and send the vehicle identification information to the vehicle. The maintenance module is used to maintain vehicle information for multi-vehicle driving modes.

[0041] In one embodiment of this disclosure, the third sending module includes: The sixth determining unit is used to determine the vehicle identification information corresponding to the vehicle based on the timestamp of the vehicle entering the track or a random competition mechanism.

[0042] In one embodiment of this disclosure, the maintenance module includes: The update unit is used to update vehicle information in response to a vehicle joining or leaving a multi-vehicle driving mode.

[0043] According to a fifth aspect of the present disclosure, a vehicle is provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to implement the steps of any of the vehicle detection methods described in the first aspect above.

[0044] According to a sixth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, which, when the instructions in the storage medium are executed by a processor of a terminal, enables the terminal to perform any of the vehicle detection methods of the first aspect described above.

[0045] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: This disclosure sends a multi-vehicle driving mode joining application and obtains the allocated vehicle identification information. The multi-vehicle driving mode includes a mode in which at least two vehicles drive in the same driving area. It periodically sends broadcast messages including vehicle identification information and starts broadcast scanning. In response to the broadcast message of the multi-vehicle driving mode detected by broadcast scanning, it determines whether the conditions for triggering vehicle monitoring are met based on the broadcast message, starts vehicle monitoring, and assists driving in the multi-vehicle driving mode based on the monitoring information. The method of determining whether to start vehicle monitoring by broadcast scanning avoids the waste of resources caused by always keeping vehicle monitoring on.

[0046] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0048] Figure 1 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 1 .

[0049] Figure 2 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 2 .

[0050] Figure 3 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 3 .

[0051] Figure 4 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 4 .

[0052] Figure 5 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 5 .

[0053] Figure 6 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 6 .

[0054] Figure 7 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 7 .

[0055] Figure 8 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 8 .

[0056] Figure 9 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 9 .

[0057] Figure 10 This is a vehicle detection device frame shown according to an exemplary embodiment of the present disclosure. Figure 1 .

[0058] Figure 11 This is a vehicle detection device frame shown according to an exemplary embodiment of the present disclosure. Figure 2 .

[0059] Figure 12 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0060] Exemplary embodiments of this disclosure will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. Various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but can be changed as will become apparent upon understanding this disclosure, except for operations that must be performed in a particular order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0061] The embodiments described below, which are examples of some of the embodiments of this disclosure, do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0062] The specific implementation methods of the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0063] Figure 1 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 1The vehicle detection method can be used on vehicles, which may be equipped with various detection devices. It should be noted that the detection devices may include broadcasting devices, cameras, and sensing sensors.

[0064] like Figure 1 As shown, it includes the following steps: S110, send a multi-vehicle driving mode joining application and obtain the assigned vehicle identification information; multi-vehicle driving mode includes a mode in which at least two vehicles are driving in the same driving area.

[0065] In some embodiments, the multi-vehicle mode may include a track mode. In track mode, since multiple vehicles are driving in the same area, risks such as vehicle collisions may occur. This disclosure does not limit the specific mode; any mode where there is a risk of vehicle collision can be used as a multi-vehicle driving mode.

[0066] In some embodiments, vehicle identification information may include information used to distinguish the current vehicle from other vehicles. For example, vehicle identification information may include vehicle code, vehicle number, etc.

[0067] In some embodiments, sending a multi-vehicle driving mode join request may include sending the multi-vehicle driving mode request to a public node that multiple vehicles can connect to. It should be noted that, in the case of the multi-vehicle driving mode being racing mode, the multi-vehicle driving mode join request can be sent to the control console within the racing track. In the case of the multi-vehicle driving mode being normal mode, any one of the multiple vehicles can act as the public node, and other vehicles can send multi-vehicle driving mode join requests to the aforementioned vehicle acting as the public node.

[0068] It should be noted that the console can determine the vehicle identification information corresponding to different vehicles based on the timestamp of the vehicle entering the track or a random competition mechanism, and then send the vehicle identification information corresponding to the vehicle to the vehicle.

[0069] For example, a random competition mechanism can be a dynamic selection process based on randomness and competition rules. Its core lies in using random factors to enter the competition mechanism, breaking the fixed advantages under deterministic conditions, and promoting equal opportunities or lateral evolution among participants. For example, the random competition mechanism in this disclosure may include allocating vehicle identification information based on the order in which vehicles submit their joining applications.

[0070] In some embodiments, sending a multi-vehicle driving mode joining request and obtaining assigned vehicle identification information includes: sending a multi-vehicle driving mode joining request to the console, obtaining a joining notification sent by the console, and the assigned vehicle identification information. In some embodiments, the joining notification may include information for notifying the vehicle that the multi-vehicle driving mode joining has been completed.

[0071] S120 periodically sends broadcast messages including vehicle identification information and initiates broadcast scanning.

[0072] In some embodiments, broadcast messages may include a communication method that sends the same message to multiple recipients. It should be noted that the multiple recipients may be located on the same communication network or in a specific broadcast area. For example, broadcast messages may include Bluetooth Low Energy (BLE) broadcasts. BLE broadcasting is one of the most fundamental communication mechanisms in the BLE protocol, allowing devices to periodically send short data packets on a specific channel to transmit information without establishing a connection with any other device.

[0073] In some embodiments, the broadcast message can contain vehicle identification information by inserting a preset code into the broadcast message.

[0074] In some embodiments, broadcast scanning may include a receiving means for receiving external broadcast messages. For example, broadcast scanning may be included in the BLE protocol, where peripheral devices periodically send data in the form of broadcast packets, and the central device can receive these broadcast packets by scanning, thereby discovering nearby BLE devices.

[0075] S130, in response to a broadcast message of a multi-vehicle driving mode detected by broadcast scanning, determines that the conditions for triggering vehicle monitoring are met based on the broadcast message, starts vehicle monitoring, and assists driving in multi-vehicle driving mode based on the monitoring information.

[0076] In some embodiments, vehicle monitoring conditions may include user-defined conditions. These conditions may include the current vehicle's position relative to other vehicles meeting preset conditions, and the signal strength of detected broadcast messages meeting preset conditions. Vehicle monitoring conditions are not limited in this embodiment.

[0077] In some embodiments, vehicle monitoring may include acquiring location information and / or image information of other vehicles based on precise detection methods. For example, vehicle monitoring may be performed using sensing sensors such as lidar, millimeter-wave radar, and ultrasonic radar, or by acquiring images using a camera.

[0078] In some embodiments, driver assistance may include providing driving information to the user associated with the vehicle to facilitate driving. Driver assistance may also include appropriate control of the vehicle to assist the user in driving the vehicle.

[0079] In some embodiments, as users use vehicles more frequently, vehicle safety becomes a key concern. The art typically employs detection methods such as cameras and radar to detect the vehicle's surroundings; however, using these methods consumes significant resources. To reduce resource consumption, vehicle monitoring, including the aforementioned monitoring methods, can be initiated when conditions are determined to trigger vehicle monitoring.

[0080] It should be noted that this disclosure does not limit the type of the first vehicle. The first vehicle can be a sedan, SUV, MPV, sports car, bus, truck, tractor, or work vehicle.

[0081] Figure 2 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 2 . Figure 1 In steps S210 and S220 and Figure 2 Steps S110 and S120 correspond to each other and will not be repeated here, as follows: Figure 1 As shown, in Figure 3 In addition to the implementation process shown, the following steps are also included: S230 receives broadcast messages via broadcast scanning.

[0082] In some embodiments, the broadcast message may further include a mode identifier. The mode identifier is used to identify whether the current vehicle is in a multi-vehicle driving mode. For example, the mode identifier can be a preset field in the broadcast message. For instance, if the second byte in the broadcast message is a mode identifier byte, and the second byte is a preset identifier (such as 0x31), it indicates that the current vehicle is in a multi-vehicle driving mode.

[0083] In some embodiments, the received broadcast message may include a broadcast message sent by a vehicle other than the current vehicle.

[0084] S240, in response to the mode identifier in the broadcast message corresponding to the multi-vehicle driving mode, determine that the broadcast message is a broadcast message of the multi-vehicle driving mode.

[0085] In some embodiments, the method in this disclosure may further include: discarding the broadcast message in response to the mode identifier in the broadcast message not corresponding to a multi-vehicle driving mode.

[0086] In some embodiments, the broadcast message for multi-vehicle driving mode may include a broadcast message sent by a vehicle in multi-vehicle driving mode. It should be noted that, if it is determined that the broadcast message is a multi-vehicle driving mode broadcast message, the current vehicle may proceed with further processing of the broadcast message.

[0087] In some embodiments, a mode identifier not corresponding to a multi-vehicle driving mode may include a mismatch between the encoding of the byte corresponding to the mode identifier in the broadcast message and a preset encoding. For example, the preset encoding is 0x31. If the byte corresponding to the mode identifier does not correspond to 0x31, the mode identifier does not correspond to a multi-vehicle driving mode.

[0088] In some embodiments, discarding a broadcast message may include not proceeding with further processing of the broadcast message. It should be noted that discarding a broadcast message may also include ceasing to receive the broadcast message. For example, a broadcast message may correspond to an identifier, which may include the frequency band of the broadcast message. If it is determined that broadcast messages will no longer be received, the broadcast message may be blocked based on its identifier.

[0089] In this embodiment, a broadcast message is received, and the mode identifier in the broadcast message is used to determine whether the vehicle is in a multi-vehicle driving mode. If the vehicle is in a multi-vehicle driving mode, further processing is performed based on the broadcast message. If the vehicle is not in a multi-vehicle driving mode, the broadcast message is discarded. This avoids resource waste caused by the vehicle processing broadcast messages that need to be discarded.

[0090] In some embodiments, signal strength can be used to indicate the strength of a received broadcast message signal. Generally, signal strength is inversely proportional to the relative distance between the sender and receiver.

[0091] In some embodiments, the relative distance corresponding to the current signal strength can be determined based on the signal strength and a predetermined correspondence between signal strength and distance. It should be noted that the relative distance can be the relative distance between the current vehicle and the vehicle sending the broadcast message.

[0092] In this embodiment, the relative distance is determined by the signal strength of the broadcast message. Then, based on the relative distance, it is determined whether the relative distance meets the vehicle monitoring conditions. If the vehicle meets the monitoring conditions, the vehicle is monitored. This avoids the problem of high resource consumption caused by directly monitoring the vehicle.

[0093] Figure 3 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 1 . Figure 3 In the middle steps S310 and S320 and Figure 1 Steps S110 and S120 correspond to each other and will not be repeated here, as follows: Figure 4 As shown, in Figure 4 In addition to the implementation process shown, the following steps are also included: S330 determines that the relative distance meets the conditions for triggering vehicle monitoring based on the signal strength of the broadcast message.

[0094] And / or, based on the information of the marked location, determine that the relative distance meets the conditions for triggering vehicle monitoring.

[0095] In some embodiments, the broadcast message may include information identifying the location, wherein the information identifying the location is used to determine the relative distance.

[0096] In some embodiments, the location information may include signal strength and location information. It should be noted that the location information may include latitude and longitude, as well as coordinates on any map. When the current vehicle receives the broadcast message, the relative distance between the current vehicle and the vehicle that sent the broadcast message can be determined based on the latitude and longitude information or coordinates on the map, and the current vehicle's latitude and longitude information or coordinates.

[0097] In some embodiments, signal strength can be used to indicate the strength of a received broadcast message signal. Generally, signal strength is inversely proportional to the relative distance between the sender and receiver.

[0098] In some embodiments, the relative distance corresponding to the current signal strength can be determined based on the signal strength and a predetermined correspondence between signal strength and distance. It should be noted that the relative distance can be the relative distance between the current vehicle and the vehicle sending the broadcast message.

[0099] In this embodiment, the relative distance is determined by the signal strength of the broadcast message. Then, based on the relative distance, it is determined whether the relative distance meets the vehicle monitoring conditions. If the vehicle meets the monitoring conditions, the vehicle is monitored. This avoids the problem of high resource consumption caused by directly monitoring the vehicle.

[0100] Figure 3 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 4 . Figure 3 In the middle steps S410 and S420 and Figure 5 Steps S310 and S320 correspond to each other and will not be repeated here, as follows: Figure 5 As shown, in Figure 1 In addition to the implementation process shown, the following steps are also included: S430, based on the signal strength of the broadcast message, determines that the relative distance meets a preset range and / or the relative distance trend meets preset conditions.

[0101] And / or, based on the information of the marked location, determine that the relative distance conforms to a preset range and / or the relative distance trend conforms to preset conditions.

[0102] In some embodiments, the preset range and preset conditions can be set by the user. The preset range can be determined based on the distance at which a vehicle is likely to collide.

[0103] In some embodiments, the relative distance trend can be determined based on multiple consecutive determinations of the relative distance. For example, if the multiple determinations of the relative distance are in a gradually decreasing state, the relative distance trend can be determined to be gradually approaching. If the multiple determinations of the relative distance are in a increasing state, the relative distance can be determined to be gradually moving away. For example, a relative distance trend meeting preset conditions may include a relative distance trend of gradually approaching.

[0104] In this embodiment of the disclosure, the determination of whether to monitor a vehicle is made by determining the relative distance and the trend of the relative distance, which ensures the safety of the vehicle while avoiding the problem of high resource consumption caused by directly monitoring the vehicle.

[0105] Figure 5 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 1 . Figure 6 In the middle steps S510 and S520 and Figure 6 Steps S110 and S120 correspond to each other and will not be repeated here, as follows: Figure 1 As shown, in Figure 6 In addition to the implementation process shown, the following steps are also included: S530 activates the camera and / or sensing sensors to monitor the location information of the target vehicle.

[0106] In some embodiments, the sensing sensors have been described in detail in the above embodiments and will not be repeated here.

[0107] In some embodiments, location information may include the position of the target vehicle and the relative angle between the target vehicle and the current vehicle.

[0108] In this embodiment of the disclosure, a camera and / or a sensing sensor are used to monitor the location information of the target vehicle, which can more accurately obtain the location information of the target vehicle and improve the vehicle's safety.

[0109] Figure 1 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 7 . Figure 7 In the middle steps S610 and S620 and Figure 1 Steps S110 and S120 correspond to each other and will not be repeated here, as follows: Figure 7 As shown, in Figure 1 In addition to the implementation process shown, the following steps are also included: The S630 displays monitoring information to provide driving guidance.

[0110] In some embodiments, displaying monitoring information may include displaying the monitoring information on a display screen or head-up display configured within the vehicle. It should be noted that when multiple vehicles are monitored simultaneously, the display screen or head-up display can be partitioned, and monitoring information for each vehicle can be displayed in different areas.

[0111] For example, when there are multiple vehicles being monitored, they can be sorted based on their distance from the current vehicle. Then, the monitoring information corresponding to the different monitored vehicles can be displayed sequentially based on the sorted sequence. For instance, if the distances of multiple monitored vehicles to the current vehicle are 5m, 10m, and 15m respectively, the monitoring information of the monitored vehicle at a distance of 5m will be displayed first.

[0112] In some embodiments, the monitoring information may include image information of the monitored vehicle captured by a camera and parameter information of the monitored vehicle sensed by a perception sensor. It should be noted that virtual image information of the monitored vehicle can be constructed based on the parameter information of the monitored vehicle sensed by the perception sensor.

[0113] In some embodiments, the monitoring information may include image information of the environment in which the monitored vehicle is located, in addition to the image information of the monitored vehicle. Using both the image information of the monitored vehicle and the image information of its environment provides a better indication of the distance between the monitored vehicle and the current vehicle, as well as their relative angle.

[0114] S640, based on monitoring information, alerts you to the location of the target vehicle; And / or, in multi-vehicle driving mode, adjust the assisted driving strategy based on monitoring information.

[0115] In some embodiments, the location information of the target vehicle may include alerts, which may be provided through image alerts, sound alerts, and vibration alerts. For example, alerts may be provided by highlighting the location information on a display device.

[0116] In some embodiments, adjusting the driver assistance strategy may include providing monitoring information to the user corresponding to the vehicle, allowing the user to adjust the driving strategy. Additionally, based on the monitoring information, control commands may be sent to the vehicle controller, which will then intervene to complete the driver assistance process.

[0117] For example, after a vehicle is detected, the user can know the distance between the monitored vehicle and the current vehicle, as well as the overtaking angle of the monitored vehicle. This allows the user to adjust their driving strategy in a timely manner and prevent vehicles behind from overtaking.

[0118] In this embodiment of the disclosure, by displaying monitoring information, providing location information of the target vehicle based on the monitoring information, and / or adjusting the assisted driving strategy according to the monitoring information in multi-vehicle driving mode, users inside the vehicle can more clearly know the location of the monitored vehicle, thereby improving the safety of users inside the vehicle.

[0119] Figure 8 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 8 . Figure 1 In the middle steps S710 and S720 and Figure 8 Steps S110 and S120 correspond to each other and will not be repeated here, as follows: Figure 1 As shown, in Figure 9 In addition to the implementation process shown, the following steps are also included: S730 displays the identification information of the user corresponding to the target vehicle. The user's identification information is used to remind the user corresponding to the target vehicle.

[0120] In some embodiments, a user's identification information may include the user's name, image, and other information. It should be noted that the user's identification information is used to distinguish the current user from other users.

[0121] In some embodiments, when displaying monitoring information, the user's identification information can also be displayed.

[0122] In this embodiment of the disclosure, by displaying the identification information of the user corresponding to the target vehicle, the user in the vehicle receiving the broadcast message can know the user corresponding to the monitored target vehicle, thereby improving the fun of driving the vehicle.

[0123] Figure 9 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. Figure 1 . Figure 10 In the middle steps S810 to S830 and Figure 11 Steps S110 to S130 correspond to each other and will not be repeated here, as follows: Figure 2 As shown, in Figure 12 In addition to the implementation process shown, the following steps are also included: S840, during vehicle monitoring, responds to broadcast messages of multi-vehicle driving modes detected by broadcast scanning, determines that the conditions for ending vehicle monitoring are met based on the broadcast messages, and shuts down vehicle monitoring.

[0124] In some embodiments, the monitoring process begins after the vehicle's monitoring is turned on.

[0125] In some embodiments, during vehicle monitoring, a continuous broadcast scan is performed to receive broadcast messages from vehicles, including the target vehicle being monitored.

[0126] In some embodiments, determining that the vehicle monitoring termination condition is met based on the broadcast message includes: Based on the signal strength of the broadcast message, determine the relative distance to meet the vehicle monitoring termination condition; And / or, based on the information of the marked location, determine the relative distance to meet the vehicle monitoring termination condition.

[0127] In some embodiments, determining that the relative distance satisfies the vehicle monitoring termination condition includes: The relative distance does not meet the preset range and / or the relative distance trend does not meet the preset conditions.

[0128] It should be noted that the preset range and preset conditions correspond to the preset range and preset conditions in the above embodiments, and will not be repeated here.

[0129] Based on the same inventive concept, this disclosure also provides a vehicle detection method, as shown in the following embodiments. Since the principle by which this method solves the problem is similar to that of the above-described method embodiments, the implementation of this method embodiment can refer to the implementation of the above-described method embodiments, and repeated details will not be described again.

[0130] Figure 12 This is a flowchart of a vehicle detection method according to an exemplary embodiment of the present disclosure. ​ The vehicle detection method can be used in the console.

[0131] like ​ As shown, it includes the following steps.

[0132] S910, in response to receiving a multi-vehicle driving mode request, determines the vehicle identification information and sends the vehicle identification information to the vehicle.

[0133] It should be noted that vehicles can send multi-vehicle driving mode requests to the console by broadcasting messages.

[0134] In some embodiments, while sending vehicle identification information, information such as mode identification can also be sent.

[0135] In some embodiments, determining vehicle identification information includes: The vehicle identification information is determined based on the timestamp of the vehicle entering the track or a random competition mechanism.

[0136] In some embodiments, each vehicle can record the time it enters the track to obtain the aforementioned timestamp.

[0137] In some embodiments, the random competition mechanism has been described in detail in the above embodiments and will not be repeated here.

[0138] S920 maintains vehicle information for multiple driving modes.

[0139] In some embodiments, maintaining vehicle information for multi-vehicle driving modes includes: Update vehicle information in response to a vehicle joining or leaving multi-vehicle driving mode.

[0140] It should be noted that when a vehicle joins, its corresponding vehicle identification information can be assigned based on the rules described in the above embodiments, such as the vehicle's entry time stamp on the track or a random competition mechanism. When a vehicle exits the multi-vehicle driving mode, the pre-stored information corresponding to the vehicle can be deleted.

[0141] This disclosure sends a multi-vehicle driving mode joining application and obtains the allocated vehicle identification information. The multi-vehicle driving mode includes a mode in which at least two vehicles drive in the same driving area. It periodically sends broadcast messages including vehicle identification information and starts broadcast scanning. In response to the broadcast message of the multi-vehicle driving mode detected by broadcast scanning, it determines whether the conditions for triggering vehicle monitoring are met based on the broadcast message, starts vehicle monitoring, and assists driving in the multi-vehicle driving mode based on the monitoring information. The method of determining whether to start vehicle monitoring by broadcast scanning avoids the waste of resources caused by always keeping vehicle monitoring on.

[0142] Based on the same inventive concept, this disclosure also provides a vehicle detection device, as shown in the following embodiment. Since the principle by which this device embodiment solves the problem is similar to that of the above-described method embodiment, the implementation of this device embodiment can refer to the implementation of the above-described method embodiment, and repeated details will not be elaborated further.

[0143] ​ This is a vehicle detection device frame shown according to an exemplary embodiment of the present disclosure. ​ .

[0144] Reference ​ The device 1000 includes: a first transmitting module 1010, a second transmitting module 1020, and a determining module 1030.

[0145] The first sending module 1010 is used to send a multi-vehicle driving mode joining application and obtain the allocated vehicle identification information; the multi-vehicle driving mode includes a mode in which at least two vehicles are driving in the same driving area; The second sending module 1020 is used to periodically send broadcast messages including vehicle identification information and to enable broadcast scanning. The determination module 1030 is used to respond to the broadcast message of the multi-vehicle driving mode scanned by the broadcast, determine the conditions for triggering vehicle monitoring according to the broadcast message, start vehicle monitoring, and assist driving in the multi-vehicle driving mode according to the monitoring information.

[0146] In one embodiment of this disclosure, the first transmitting module 1010 includes: The first sending unit is used to send a multi-vehicle driving mode joining application to the console, and to obtain the joining notification sent by the console and the assigned vehicle identification information.

[0147] In one embodiment of this disclosure, the second sending module 1020 further includes: The second transmitting unit is used for mode identification, which includes multi-vehicle driving modes.

[0148] In one embodiment of this disclosure, the determining module 1030 includes: The first receiving unit is used to receive broadcast messages through broadcast scanning; The first determining unit is used to determine that the broadcast message is a broadcast message of a multi-vehicle driving mode in response to the mode identifier in the broadcast message corresponding to the multi-vehicle driving mode.

[0149] In one embodiment of this disclosure, the determining module 1030 further includes: The discard unit is used to discard the broadcast message in response to the mode identifier in the broadcast message not corresponding to the multi-vehicle driving mode.

[0150] In one embodiment of this disclosure, the determining module 1030 includes: The second determining unit is used to determine whether the relative distance meets the conditions for triggering vehicle monitoring based on the signal strength of the broadcast message.

[0151] In one embodiment of this disclosure, the second sending module 1020 includes: The third transmitting unit is used to identify location information, which is used to determine the relative distance.

[0152] In one embodiment of this disclosure, the determining module 1030 includes: The third determining unit is used to determine whether the relative distance meets the conditions for triggering vehicle monitoring based on the signal strength of the broadcast message; And / or, based on the information of the marked location, determine that the relative distance meets the conditions for triggering vehicle monitoring.

[0153] In one embodiment of this disclosure, the determining module 1030 includes: The fourth determining unit is used to determine whether the relative distance meets a preset range and / or whether the relative distance trend meets preset conditions.

[0154] In one embodiment of this disclosure, the determining module 1030 includes: The activation unit is used to activate the camera and / or sensing sensors to monitor the location information of the target vehicle.

[0155] In one embodiment of this disclosure, the determining module 1030 includes: The display unit is used to display monitoring information to provide driving reference; The reminder unit is used to remind the target vehicle of its location information; And / or, in multi-vehicle driving mode, adjust the assisted driving strategy based on monitoring information.

[0156] In one embodiment of this disclosure, the second sending module 1020 includes: The fourth sending unit is used to send identification information of the user corresponding to the target vehicle. The user's identification information is used to remind the user corresponding to the target vehicle.

[0157] In one embodiment of this disclosure, the apparatus further includes: The termination module is used during vehicle monitoring to respond to broadcast messages of multi-vehicle driving modes detected through broadcast scanning, determine whether the conditions for terminating vehicle monitoring are met based on the broadcast messages, and then shut down vehicle monitoring.

[0158] In one embodiment of this disclosure, the termination module includes: The fifth determining unit is used to determine whether the relative distance meets the vehicle monitoring termination condition based on the signal strength of the broadcast message. And / or, based on the information of the marked location, determine the relative distance to meet the vehicle monitoring termination condition.

[0159] In one embodiment of this disclosure, the fifth determining unit includes: Identify sub-units for situations where the relative distance does not meet the preset range and / or the relative distance trend does not meet the preset conditions.

[0160] In one embodiment of this disclosure, the multi-vehicle driving mode includes a racing mode.

[0161] This disclosure sends a multi-vehicle driving mode joining application and obtains the allocated vehicle identification information. The multi-vehicle driving mode includes a mode in which at least two vehicles drive in the same driving area. It periodically sends broadcast messages including vehicle identification information and starts broadcast scanning. In response to the broadcast message of the multi-vehicle driving mode detected by broadcast scanning, it determines whether the conditions for triggering vehicle monitoring are met based on the broadcast message, starts vehicle monitoring, and assists driving in the multi-vehicle driving mode based on the monitoring information. The method of determining whether to start vehicle monitoring by broadcast scanning avoids the waste of resources caused by always keeping vehicle monitoring on.

[0162] Based on the same inventive concept, this disclosure also provides a vehicle detection device, as shown in the following embodiment. Since the principle by which this device embodiment solves the problem is similar to that of the above-described method embodiment, the implementation of this device embodiment can refer to the implementation of the above-described method embodiment, and repeated details will not be elaborated further.

[0163] ​ This is a vehicle detection device frame shown according to an exemplary embodiment of the present disclosure. ​ .

[0164] Reference ​ The device 1100 includes a third transmitting module 1110 and a maintenance module 1120.

[0165] The third sending module 1110 is used to respond to receiving a multi-vehicle driving mode application, determine vehicle identification information, and send vehicle identification information to the vehicle. Maintenance module 1120 is used to maintain vehicle information for multi-vehicle driving modes.

[0166] In one embodiment of this disclosure, the third sending module 1110 includes: The sixth determining unit is used to determine the vehicle identification information corresponding to the vehicle based on the timestamp of the vehicle entering the track or a random competition mechanism.

[0167] In one embodiment of this disclosure, the maintenance module 1120 includes: The update unit is used to update vehicle information in response to a vehicle joining or leaving a multi-vehicle driving mode.

[0168] This disclosure sends a multi-vehicle driving mode joining application and obtains the allocated vehicle identification information. The multi-vehicle driving mode includes a mode in which at least two vehicles drive in the same driving area. It periodically sends broadcast messages including vehicle identification information and starts broadcast scanning. In response to the broadcast message of the multi-vehicle driving mode detected by broadcast scanning, it determines whether the conditions for triggering vehicle monitoring are met based on the broadcast message, starts vehicle monitoring, and assists driving in the multi-vehicle driving mode based on the monitoring information. The method of determining whether to start vehicle monitoring by broadcast scanning avoids the waste of resources caused by always keeping vehicle monitoring on.

[0169] ​ This is a block diagram illustrating a vehicle according to an exemplary embodiment. For example, vehicle 1200 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 1200 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0170] Reference ​The vehicle 1200 may include various subsystems, such as an infotainment system 1210, a perception system 1220, a decision control system 1230, a drive system 1240, and a computing platform 1250. The vehicle 1200 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 1200 can be interconnected via wired or wireless means.

[0171] In some embodiments, the infotainment system 1210 may include a communication system, an entertainment system, and a navigation system, etc.

[0172] The perception system 1220 may include several types of sensors for sensing information about the environment surrounding the vehicle 1200. For example, the perception system 1220 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0173] The decision control system 1230 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0174] The drive system 1240 may include components that provide powered motion to the vehicle 1200. In one embodiment, the drive system 1240 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0175] Some or all of the functions of the vehicle 1200 are controlled by a computing platform 1250. The computing platform 1250 may include at least one processor 1251 and a memory 1252, the processor 1251 being able to execute instructions 1253 stored in the memory 1252.

[0176] Processor 1251 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0177] The memory 1252 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0178] In addition to instruction 1253, memory 1252 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 1252 can be used by computing platform 1250.

[0179] In this embodiment of the disclosure, the processor 1251 may execute instructions 1253 to complete all or part of the steps of the vehicle detection method described above.

[0180] In some embodiments of this disclosure, a non-transitory computer-readable storage medium is provided, which stores computer program instructions that, when executed by a processor, implement a vehicle detection method provided in this disclosure.

[0181] In some embodiments of this disclosure, a computer program product is also provided, including a computer program / instructions that, when executed by a processor, implement a vehicle detection method.

[0182] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0183] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0184] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0185] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0186] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A vehicle inspection method, characterized in that, include: Send a multi-vehicle driving mode application and obtain the assigned vehicle identification information; the multi-vehicle driving mode includes a mode in which at least two vehicles are driving in the same driving area; Periodically send broadcast messages including the vehicle identification information; And start broadcast scanning; In response to a broadcast message of the multi-vehicle driving mode detected by the broadcast, the system determines that the conditions for triggering vehicle monitoring are met based on the broadcast message, initiates vehicle monitoring, and provides assisted driving in the multi-vehicle driving mode based on the monitoring information.

2. The method according to claim 1, characterized in that, The process of sending a multi-vehicle driving mode joining application and obtaining the assigned vehicle identification information includes: Send a multi-vehicle driving mode joining request to the console, and obtain the joining notification sent by the console and the assigned vehicle identification information.

3. The method according to claim 1, characterized in that, The periodic transmission of broadcast messages including the vehicle identification information also includes: The mode identifier includes the multi-vehicle driving mode.

4. The method according to claim 3, characterized in that, The broadcast message in response to the multi-vehicle driving mode detected by the broadcast scan includes: Broadcast messages are received through the broadcast scan; In response to the mode identifier in the broadcast message corresponding to the multi-vehicle driving mode, the broadcast message is determined to be a broadcast message of the multi-vehicle driving mode.

5. The method according to claim 4, characterized in that, The method further includes: If the mode identifier in the broadcast message does not correspond to the multi-vehicle driving mode, the broadcast message is discarded.

6. The method according to claim 1, characterized in that, The periodic transmission of broadcast messages including the vehicle identification information also includes: Information indicating the location is used to determine the relative distance.

7. The method according to claim 6, characterized in that, The step of determining whether the conditions for triggering vehicle monitoring are met based on the broadcast message includes: Based on the signal strength of the broadcast message, determine that the relative distance meets the conditions for triggering vehicle monitoring; And / or, based on the information of the identified location, determine that the relative distance meets the conditions for triggering vehicle monitoring.

8. The method according to claim 7, characterized in that, The determination that the relative distance meets the conditions for triggering vehicle monitoring includes: The relative distance meets the preset range and / or the relative distance trend meets the preset conditions.

9. The method according to claim 1, characterized in that, The activation of vehicle monitoring includes: Activate cameras and / or sensing sensors to monitor the location information of the target vehicle.

10. The method according to claim 9, characterized in that, The method of assisting driving based on monitoring information in the multi-vehicle driving mode includes: The monitoring information is displayed to provide driving reference; Based on the monitoring information, the location information of the target vehicle is provided; And / or, in the multi-vehicle driving mode, the assisted driving strategy is adjusted based on the monitoring information.

11. The method according to claim 10, characterized in that, The periodic transmission of broadcast messages including the vehicle identification information also includes: The user identification information corresponding to the target vehicle is used to remind the user corresponding to the target vehicle.

12. The method according to claim 1, characterized in that, The method further includes: During vehicle monitoring, in response to the broadcast message of the multi-vehicle driving mode detected by the broadcast, the vehicle monitoring is turned off once the conditions for ending the vehicle monitoring are met based on the broadcast message.

13. The method according to claim 12, characterized in that, The step of determining whether the vehicle monitoring termination condition is met based on the broadcast message includes: Based on the signal strength of the broadcast message, determine that the relative distance meets the vehicle monitoring termination condition; And / or, based on the information of the identified location, determine that the relative distance satisfies the vehicle monitoring termination condition.

14. The method according to claim 13, characterized in that, The determination of the relative distance satisfying the vehicle monitoring termination condition includes: The relative distance does not meet the preset range and / or the relative distance trend does not meet the preset conditions.

15. The method according to claim 1, characterized in that, The multi-vehicle driving modes include racing mode.

16. A vehicle detection method, characterized in that, include: Upon receiving a multi-vehicle driving mode request, determine the vehicle identification information and send the vehicle identification information to the vehicle. Maintain vehicle information for the multi-vehicle driving mode.

17. The method according to claim 16, characterized in that, The determination of vehicle identification information includes: The vehicle identification information corresponding to the vehicle is determined based on the timestamp of the vehicle entering the track or a random competition mechanism.

18. The method according to claim 16, characterized in that, The maintenance of vehicle information for the multi-vehicle driving mode includes: In response to a vehicle joining or leaving the multi-vehicle driving mode, the vehicle information is updated.

19. A vehicle detection device, characterized in that, include: The first sending module is used to send a multi-vehicle driving mode joining application and obtain the allocated vehicle identification information; the multi-vehicle driving mode includes a mode in which at least two vehicles are driving in the same driving area; The second sending module is used to periodically send broadcast messages including the vehicle identification information; And start broadcast scanning; The determination module is used to respond to the broadcast message of the multi-vehicle driving mode scanned by the broadcast, determine that the conditions for triggering vehicle monitoring are met according to the broadcast message, start vehicle monitoring, and assist driving in the multi-vehicle driving mode according to the monitoring information.

20. The apparatus according to claim 19, characterized in that, The first sending module includes: The first sending unit is used to send a multi-vehicle driving mode joining application to the console, and to obtain the joining notification sent by the console and the assigned vehicle identification information.

21. The apparatus according to claim 19, characterized in that, The determining module includes: The first receiving unit is configured to receive broadcast messages via the broadcast scan. The first determining unit is configured to determine that the broadcast message is a broadcast message of the multi-vehicle driving mode in response to the mode identifier in the broadcast message corresponding to the multi-vehicle driving mode.

22. A vehicle detection device, characterized in that, include: The third sending module is used to respond to the received multi-vehicle driving mode application, determine the vehicle identification information, and send the vehicle identification information to the vehicle. The maintenance module is used to maintain the vehicle information of the multi-vehicle driving mode.

23. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the steps of the vehicle detection method according to any one of claims 1 to 18.

24. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of a terminal, enable the terminal to perform the steps of a vehicle detection method according to any one of claims 1 to 18.

25. A computer program product, said computer program product comprising a computer program or computer instructions, characterized in that, The computer program or the computer instructions are loaded and executed by a processor to enable the computer to implement the steps of the vehicle detection method as described in any one of claims 1 to 18.

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