Vehicle safety method and electronic device

Abstract

This application relates to a vehicle risk avoidance method and electronic device, belonging to the field of vehicle technology. The vehicle risk avoidance method includes: when the vehicle is parked and an animal recognition event is detected, acquiring animal status information and personnel location information, wherein the animal recognition event indicates the presence of a dangerous animal target within a preset area around the vehicle, and the animal status information is determined based on the state of the dangerous animal target; the personnel location information is used to represent the relative position between the personnel associated with the vehicle and the vehicle; determining a target risk avoidance strategy based on the animal status information and personnel location information; and controlling the vehicle to execute the target risk avoidance strategy. This application establishes a complete risk avoidance process from risk perception to targeted risk avoidance strategy formulation, and then to automatic execution of the risk avoidance strategy, enabling vehicles to provide users with proactive warnings and risk avoidance assistance in outdoor scenarios such as camping, thereby reducing the safety risks posed by dangerous animals in outdoor environments.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle hazard avoidance method and electronic device. Background Technology

[0002] With the continuous development of vehicle intelligence technology, the application of in-vehicle environmental perception and active safety systems is becoming increasingly widespread, aiming to improve driving safety and ease of use.

[0003] Currently, in static parking scenarios such as camping, vehicle systems lack the intelligent perception and collaborative response capabilities to dynamic external hazards. Some vehicles' active safety systems use ultrasonic radar or cameras to monitor moving objects around the vehicle and trigger alarms. These technologies primarily target traditional risks such as theft and collisions, with the response mode limited to only audible and visual alarms. When users are outside the vehicle or resting inside, the vehicle cannot identify and assess approaching dangerous animals, and the single-mode audible and visual alarms may provoke dangerous animals, posing a certain safety hazard. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a vehicle hazard avoidance method and an electronic device.

[0005] In a first aspect, this application provides a vehicle avoidance method, comprising: when the vehicle is parked and an animal recognition event is detected, acquiring animal status information and personnel location information, wherein the animal recognition event indicates the presence of a dangerous animal target within a preset area around the vehicle, and the animal status information is determined based on the status of the dangerous animal target; the personnel location information is used to characterize the relative position between the personnel associated with the vehicle and the vehicle; determining a target avoidance strategy based on the animal status information and the personnel location information; and controlling the vehicle to execute the target avoidance strategy.

[0006] In some technical solutions of this application, animal status information includes: the animal category of the dangerous animal target and the animal risk characteristics of the dangerous animal target; determining the target avoidance strategy based on the animal status information and personnel location information includes: selecting a set of target strategies from the avoidance strategy library based on the animal category; and determining the target avoidance strategy from at least two preset avoidance strategies in the target strategy set based on the personnel location information and animal risk characteristics.

[0007] In some technical solutions of this application, the target avoidance strategy includes at least one of a stealth warning strategy, a non-confrontational interference strategy, and a safety protection strategy, wherein: the stealth warning strategy is used to perform protective preparation work without disturbing the dangerous animal target; the non-confrontational interference strategy is used to transmit guidance signals to personnel and dangerous animal targets to slow down the approach of dangerous animal targets to personnel and vehicles and / or guide personnel to approach vehicles; the safety protection strategy is used to drive away dangerous animal targets.

[0008] In some technical solutions of this application, animal risk characteristics include identification confidence, the relative distance between the dangerous animal and the vehicle, and the animal's posture. Based on animal status information and personnel location information, a target avoidance strategy is determined, including: when the identification confidence is greater than a confidence threshold and the relative distance is greater than or equal to a first distance threshold, a stealth warning strategy is determined as the target avoidance strategy; when the relative distance is less than the first distance threshold, and / or when personnel location information indicates that personnel are moving towards the vehicle, a non-confrontational interference strategy is determined as the target avoidance strategy; when the relative distance is less than a second distance threshold, and / or the animal's posture is in a preset dangerous posture, a safety protection strategy is determined as the target avoidance strategy; wherein the second distance threshold is less than the first distance threshold; and the first and second distance thresholds correspond to the animal category.

[0009] In some technical solutions of this application, when the target avoidance strategy includes a stealth warning strategy, controlling the vehicle to execute the target avoidance strategy includes: outputting a first prompt based on the personnel location information, wherein the first prompt is determined based on at least one of the following: distance information between the personnel and the dangerous animal target, type information of the dangerous animal target, and avoidance action information; and / or, when it is determined from the personnel location information that the personnel are outside the vehicle, controlling the vehicle to execute avoidance preparation actions, wherein the avoidance preparation actions include at least one of the following: unlocking the vehicle door, adjusting the driver's seat and steering wheel to a convenient entry position, and adjusting the vehicle's power system to a drivable standby state; and / or, when it is determined from the personnel location information that the personnel are inside the vehicle, outputting a second prompt, wherein the second prompt is used to prompt the closing of the vehicle door and windows.

[0010] In some technical solutions of this application, when the target avoidance strategy includes a non-confrontational interference strategy, controlling the vehicle to execute the target avoidance strategy includes: at least controlling the vehicle to execute a first animal intervention action; the first animal intervention action includes: playing animal guidance audio corresponding to the animal state information, and / or controlling the vehicle's external light source to operate according to a first light emission mode corresponding to the animal state information.

[0011] In some technical solutions of this application, when controlling the vehicle to perform the first animal intervention action, the vehicle avoidance method further includes: in response to determining that the person is outside the vehicle based on the person's location information, performing a first person assistance action; the first person assistance action includes: outputting person guidance audio to the person and / or controlling the vehicle's internal light source to operate according to a second light emission mode, wherein the person guidance audio is used to guide the person back to the vehicle.

[0012] In some technical solutions of this application, when the target avoidance strategy includes a safety protection strategy, controlling the vehicle to execute the target avoidance strategy includes: controlling the vehicle to execute a second animal intervention action; the second animal intervention action includes: controlling the vehicle's external light source to flash at high frequency, and / or controlling the vehicle's horn to sound continuously, and / or controlling the vehicle's external speakers to play animal deterrence audio at a preset volume.

[0013] In some embodiments of this application, when controlling the vehicle to perform a second animal intervention action, the vehicle avoidance method further includes: in response to determining that a person is inside the vehicle based on the person's location information, controlling the vehicle to perform a second person assistance action, wherein the second person assistance action includes at least one of the following: controlling the window to rise to a safe position, outputting a door locking prompt message, controlling the door to lock, and controlling the air conditioning system to switch to recirculation mode.

[0014] In some embodiments of this application, after determining the target avoidance strategy based on animal status information and personnel location information, the vehicle avoidance method further includes: updating the animal status information and personnel location information every preset time interval; and updating the target avoidance strategy based on the updated animal status information and updated personnel location information.

[0015] Secondly, embodiments of this application provide a vehicle avoidance device comprising: an acquisition module, configured to acquire animal status information and personnel location information when the vehicle is parked and an animal recognition event is detected, wherein the animal recognition event indicates the presence of a dangerous animal target within a preset area around the vehicle, the animal status information is determined based on the status of the dangerous animal target, and the personnel location information is used to characterize the relative position between the personnel associated with the vehicle and the vehicle; a determination module, configured to determine a target avoidance strategy based on the animal status information and the personnel location information; and a control module, configured to control the vehicle to execute the target avoidance strategy.

[0016] Thirdly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in the first aspect.

[0017] Fourthly, embodiments of this application provide an electronic device, including: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method provided in the first aspect.

[0018] Fifthly, embodiments of this application provide a vehicle, including: a controller, the controller including a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing a computer program, and the processor executing the computer program to perform the method as provided in the first aspect.

[0019] The technical solution provided in this application has the following advantages compared with the prior art: The vehicle avoidance method and electronic device provided in this application automatically acquire animal status information and user location information when an animal recognition event is detected, completing the synchronous monitoring and perception of external threat information and user status, thereby providing a data foundation for subsequent avoidance decisions. By combining animal status information and user location information to determine the target avoidance strategy, the process of formulating the target avoidance strategy is coupled with external threat information and user status information, making the target avoidance strategy both risk-specific and user-adaptable. This avoids the inability of a single alarm response mode to cope with different types of dangerous animals, as well as user safety risks caused by improper system access. By automating the execution of the target avoidance strategy into the actual actions performed by the vehicle, users do not need to manually perform multiple operations in emergency situations, avoiding situations where complex operations may delay the avoidance opportunity. Therefore, a complete avoidance process is established from risk perception to targeted avoidance strategy formulation, and then to automatic execution of the avoidance strategy. This enables vehicles to provide users with proactive early warning and avoidance assistance in outdoor scenarios such as camping, thereby reducing the safety risks caused by dangerous animals in the wild. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0021] 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, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart of a vehicle avoidance method according to some embodiments of this application is shown; Figure 2 Schematic diagrams of vehicle active safety systems according to some embodiments of this application are shown; Figure 3 The illustration shows a scenario diagram of a stealth warning strategy according to some embodiments of this application; Figure 4 The illustration shows a scenario diagram of a non-confrontational interference strategy according to some embodiments of this application; Figure 5 The illustration shows a scenario diagram illustrating the security protection strategies of some embodiments of this application; Figure 6 A schematic block diagram of a vehicle avoidance device according to some embodiments of this application is shown. Detailed Implementation

[0023] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0024] Many specific details are set forth in the following description to provide a thorough understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0025] Before describing the embodiments of this application in detail, the technical background involved in this application is described here so that those skilled in the art can have a clearer understanding of the embodiments of this application.

[0026] In related technologies, most vehicles are equipped with active safety systems, which can perform functions such as collision warning, automatic emergency braking, and anti-theft alarms while parked. The alarm function in parked mode is triggered only by the presence of a moving object around the vehicle, and the triggering action is usually a single-mode audible and visual alarm or sending a notification message to a human terminal. Because the triggering conditions and actions of existing alarm functions are relatively simple, and the audible and visual alarms may even provoke dangerous animals, the monitoring and alarm methods in existing active safety protection systems are difficult to apply to scenarios involving dangerous animals while camping in the wild.

[0027] To address the problems existing in the aforementioned related technologies, this application provides a vehicle hazard avoidance method, applied to a vehicle or a vehicle controller. The following detailed description and introduction of the vehicle hazard avoidance method of this application uses the vehicle controller as the executing entity: Figure 1 A flowchart of a vehicle avoidance method according to some embodiments of this application is shown, such as... Figure 1 As shown, vehicle avoidance methods include: S101: When the vehicle is parked and an animal recognition event is detected, obtain animal status information and personnel location information.

[0028] Among them, animal recognition events indicate the presence of dangerous animal targets within a preset area around the vehicle, animal status information is determined based on the status of dangerous animal targets, and personnel location information is used to characterize the relative positions between the personnel associated with the vehicle and the vehicle.

[0029] For example, dangerous animal targets include, but are not limited to: bears, wolves, wild dogs, wild boars, and snakes.

[0030] In this embodiment, the animal recognition event is a trigger signal generated by the vehicle's environmental perception layer. The animal recognition event indicates that a target, initially classified as a dangerous animal, has been detected within a preset area around the vehicle. The animal recognition event serves as a condition for initiating the entire hazard avoidance process.

[0031] For example, the value range of the preset region may include, but is not limited to, the following ranges: The preset area can be a circle around the vehicle with the vehicle as the center and a first preset distance as the radius; the first preset distance can be between 30 meters and 100 meters.

[0032] The preset area can also be a regular polygon centered on the vehicle with a side length of a second preset distance. For example, the regular polygon can include, but is not limited to, equilateral triangles, squares, regular hexagons, and regular dodecagons. The distance from the center to the vertex of the regular polygon can range from 30 meters to 120 meters. Specifically, if the preset area is a square and the second preset distance of the square's side length is 100 meters, then the distance from the center to the vertex is approximately 70 meters, and the distance from the center to the side is 50 meters.

[0033] The range of the preset area can also be from the range covered by the third circle to the range covered by the fourth circle. The third circle is a circle with the vehicle as the center and the third preset distance as the radius, and the fourth circle is a circle with the vehicle as the center and the fourth preset distance as the radius. The third preset distance is less than the fourth preset distance. For example, the third preset distance and the fourth preset distance can be set to 30 meters and 100 meters or 40 meters and 120 meters, etc.

[0034] The range of the preset area can also be the range covered by the fifth polygon to the range covered by the sixth polygon. The fifth polygon is a polygon centered on the vehicle with a side length of the fifth preset distance, and the sixth polygon is a polygon centered on the vehicle with a side length of the sixth preset distance. The fifth preset distance is less than the sixth preset distance. For example, the range of the distance from the center to the vertex of the fifth polygon is 40 meters to 50 meters, and the range of the distance from the center to the vertex of the sixth regular polygon is 110 meters to 130 meters. The aforementioned polygons can include, but are not limited to, any one or any combination of triangles, rectangles, hexagons, dodecagons, etc.

[0035] In this embodiment, animal status information includes descriptive information about dangerous animal targets identified by the environmental perception layer. This animal status information can effectively describe the status of dangerous animal targets and the degree of threat they pose to personnel. Personnel location information characterizes the position of personnel relative to the vehicle, including but not limited to whether the personnel are inside the vehicle and the distance between the personnel and the vehicle.

[0036] It should be noted that the personnel in this application embodiment include the vehicle driver and passengers.

[0037] Specifically, when the vehicle is parked, its active safety monitoring function automatically activates. Once activated, the vehicle proactively detects various safety events. Upon detecting an animal recognition event, it determines that a dangerous animal is near the vehicle. At this point, the vehicle acquires the data needed for subsequent risk avoidance strategies, namely, animal status information and personnel location information. By using the acquired animal status information to perceive external environmental threats and the acquired personnel location information to perceive personnel status, the vehicle provides an accurate data foundation for subsequent risk avoidance decisions. Furthermore, it can formulate targeted risk avoidance strategies based on different external environmental threats and personnel statuses.

[0038] For example, people can set the monitoring strategy in the active safety monitoring function through the vehicle's infotainment system. Specifically, the vehicle will only start detecting animal recognition events when people turn on "camping mode"; when people turn off "camping mode", the vehicle will not detect animal recognition events, nor will it perform subsequent avoidance operations based on animal recognition events, thus preventing people from accidentally triggering alarms when driving to places such as zoos.

[0039] Figure 2 The diagram illustrates a vehicle active safety system according to some embodiments of this application. Exemplarily, the active safety system includes a vehicle environmental perception layer 210, including but not limited to a visual sensing module, an acoustic sensing module, a radar sensing module, and a vehicle control signal acquisition module. The visual sensing module includes surround-view cameras and a sentry-mode high-definition camera, capable of acquiring image signals within a preset range of the vehicle. The acoustic sensing module includes an external microphone array arranged around the vehicle body, capable of collecting audio signals from the surrounding area. The radar sensing module includes millimeter-wave radar and ultrasonic radar, capable of collecting radar signals from the surrounding area, thereby accurately measuring the distance to objects around the vehicle. The vehicle control signal acquisition module can acquire the open / closed states of doors, windows, and the trunk, the position states of seats and steering wheel, and the activation status of active safety functions, etc.

[0040] The following details the process of generating animal status information and personnel location information: The vehicle's environmental perception layer 210 outputs environmental perception data packets with a unified timestamp. These packets include image data, audio data, radar data, and vehicle control data. The environmental perception layer 210 then transmits these packets to the recognition and decision-making layer 220, which includes a visual recognition module 221, an audio recognition module 222, an animal localization module 223, and a personnel status judgment module 224.

[0041] The visual recognition module 221 continuously analyzes the video stream composed of image data based on a CNN (Convolutional Neural Network) model, outputting animal category, bounding box, and recognition confidence score. The audio recognition module 222 analyzes audio data to identify abnormal sounds such as the calls of specific animals. The animal localization module 223 combines image data and radar data to calculate the relative distance, orientation, speed, and trajectory between the animal and the vehicle. The final output includes animal status information such as animal category, relative distance between the animal and the vehicle, recognition confidence score, and animal posture.

[0042] The personnel status determination module 224 comprehensively determines whether a person is inside the vehicle by using the vehicle's in-cabin camera, infrared sensors, and seat sensors. It also calculates the relative distance and orientation between the person and the vehicle by combining image data, radar data, and communication data between the vehicle and the personnel terminal. The final output includes personnel location information such as whether the person is inside the vehicle and the relative distance between the person and the vehicle.

[0043] S102, Determine the target avoidance strategy based on animal status information and personnel location information; In this embodiment, animal state information represents information related to external environmental threats to the vehicle, while personnel location information represents the current state of the personnel. Based on the animal state information and personnel location information, a target avoidance strategy can be generated. Alternatively, a corresponding target avoidance strategy can be invoked from a pre-defined avoidance strategy library using the animal state information and personnel location information. This ensures that the target avoidance strategy matches both the animal state information and the personnel location information, preventing inappropriate avoidance strategies from increasing the level of danger. This achieves the mapping of animal state information and personnel location information to specific target avoidance strategies, enabling the vehicle to automatically execute target avoidance strategies that match the current situation.

[0044] like Figure 2 As shown, the vehicle's active safety system also includes a risk avoidance strategy library. The identification and decision-making layer can select a target risk avoidance strategy from the risk avoidance strategy library based on animal status information and personnel location information to ensure that the target risk avoidance strategy matches the animal status information and personnel location information.

[0045] S103 controls the vehicle to execute target avoidance strategies.

[0046] In this embodiment, after the vehicle determines the target avoidance strategy, control commands are sent to the corresponding actuators based on the target avoidance strategy to drive each actuator to complete the various avoidance operations included in the target avoidance strategy, thereby automatically executing targeted avoidance actions.

[0047] For example, an occupant sets the active safety system to "camping mode" while inside the vehicle and moves outside. The vehicle system detects a bear approximately 40 meters away through the environmental perception layer, triggering an animal recognition event and determining the animal's status information, including: the bear is located 40 meters to the right rear of the vehicle, the recognition confidence level is 70%, and the posture is walking. The system also uses signals from the in-cabin camera and infrared sensors to determine that the occupant is outside the vehicle, thus establishing their location. Based on this, the system decides to invoke the appropriate target avoidance strategy and automatically unlocks the vehicle doors, adjusts the driver's seat to a preset position to facilitate entry into the cabin, and sends a dangerous animal alert to the occupant's terminal, prompting them to return to the vehicle for safety.

[0048] In this embodiment, when an animal identification event is detected, animal status information and personnel location information are automatically acquired, enabling simultaneous monitoring and perception of external threat information and personnel status. This provides a data foundation for subsequent risk avoidance decisions. By combining animal status information and personnel location information to determine the target risk avoidance strategy, the process of formulating the target risk avoidance strategy is coupled with external threat information and personnel status information. This ensures that the target risk avoidance strategy is both risk-specific and personnel-adaptable, avoiding the inability of a single alarm response mode to cope with different types of dangerous animals, as well as personnel safety risks caused by improper system access. By automating the execution of the target risk avoidance strategy into actual actions performed by the vehicle, personnel do not need to manually perform multiple operations in emergency situations, avoiding situations where complex operations may delay the time for risk avoidance. Therefore, a complete risk avoidance process is established, from risk perception to targeted risk avoidance strategy formulation, and then to automatic execution of the risk avoidance strategy. This enables vehicles to provide proactive early warning and risk avoidance assistance to personnel in outdoor scenarios such as camping, thereby reducing the safety risks caused by dangerous animals in the wild.

[0049] In some embodiments of this application, animal status information includes: the animal category of the dangerous animal target and the animal risk characteristics of the dangerous animal target; determining a target avoidance strategy based on the animal status information and personnel location information includes: Select a set of target strategies from the risk avoidance strategy library based on animal category; determine the target risk avoidance strategy from at least two preset risk avoidance strategies in the target strategy set based on personnel location information and animal risk characteristics.

[0050] In this embodiment, after obtaining animal status information including animal category, the system first uses this category as an index to query the avoidance strategy library. The system retrieves all preset avoidance strategies marked as applicable to that animal category from the library and aggregates these preset avoidance strategies into a target strategy set. It should be noted that at least two preset avoidance strategies in the target strategy set are for dangerous animal targets of the same animal category. Even if dangerous animal targets of the same animal category require different avoidance strategies in different scenarios, the multiple preset avoidance strategies included in the target strategy set correspond to different scenarios. By filtering the strategy range in the avoidance strategy library through the animal category in the animal status information, the preset avoidance strategies in the selected target strategy set are matched with the biological characteristics and behavioral patterns of dangerous animal targets. This narrows the decision space from the global avoidance strategy library to the target strategy set that matches the animal category, thereby providing an effective range of options for subsequent strategy selection.

[0051] For example, when the animal is a bear, different preset avoidance strategies exist depending on the relative distance between the bear and the vehicle. Specifically, the preset avoidance strategies for a scenario where the bear is 50 meters away from the vehicle include prompting the driver to quickly return to the vehicle and adjusting the vehicle to an easy-entry position. The preset avoidance strategies for a scenario where the bear is within 50 meters of the vehicle include playing non-confrontational guidance audio for the bear.

[0052] In this embodiment, animal risk characteristics can be used to quantify the current threat level of dangerous animal targets. After obtaining the target strategy set, the acquired personnel location information and animal risk characteristics are used as core decision variables to evaluate the applicability of each preset avoidance strategy in the set. The system matches the current animal risk characteristics and personnel location information with the triggering rules of each preset avoidance strategy, selecting the preset avoidance strategy that best meets the conditions and determining it as the target avoidance strategy to be executed subsequently. Within the target strategy set already filtered by animal category, further matching is performed by combining animal risk characteristics that can quantify the risk to animals with personnel location information, so that the selected target avoidance strategy is not only applicable to this type of animal, but also matches the current actual scenario.

[0053] In this embodiment, by initially selecting avoidance strategies from a risk avoidance strategy library based on animal category, the preset avoidance strategies in the selected target avoidance set are all consistent with the inherent characteristics of dangerous animal targets, avoiding the use of completely unsuitable response methods. After determining the target strategy set, further strategy selection is performed based on animal risk characteristics and personnel location information, making the selected target avoidance strategies more closely match the threat level represented by animal risk characteristics and the real-time location of personnel, and increasing the degree of matching between the target avoidance strategies and the on-site situation. This further improves the accuracy and effectiveness of early warning and avoidance assistance, thereby more reliably assisting personnel in responding to dangerous animal threats.

[0054] In some embodiments of this application, the target avoidance strategy includes at least one of a stealth warning strategy, a non-confrontational interference strategy, and a safety protection strategy, wherein: the stealth warning strategy is used to perform protective preparation work without disturbing the dangerous animal target; the non-confrontational interference strategy is used to transmit guidance signals to personnel and dangerous animal targets to slow down the dangerous animal target from approaching personnel and vehicles and / or guide personnel to approach vehicles; and the safety protection strategy is used to drive away the dangerous animal target.

[0055] In this embodiment, the target strategy set includes at least two of the following: stealth warning strategy, non-confrontational interference strategy, and security protection strategy. At least one of these three strategies can be selected as the target risk avoidance strategy to address different dangerous scenarios.

[0056] Specifically, the goal of the stealth warning strategy is to complete the hazard avoidance preparation of vehicles and systems without disturbing dangerous animal targets. Its core feature is to alert personnel to the presence of dangerous animal targets in a low-intrusion or non-intrusive manner, while the vehicle is prepared silently, enabling personnel to promptly perceive the dangerous animal target and quickly drive away as soon as they return to the vehicle.

[0057] The goal of non-confrontational interference strategies is to disrupt or delay dangerous animal targets from approaching vehicles and to guide personnel back into vehicles through non-confrontational signal transmission. When a dangerous animal target is already close to personnel, it is guided away from the vehicle or its approach speed is slowed down in a non-confrontational manner, giving personnel sufficient time to return to the vehicle. By outputting guidance information to personnel to return to the vehicle, the efficiency of personnel returning to the vehicle is improved.

[0058] The goal of the safety protection strategy is to attempt to drive away dangerous animal targets through high-intensity deterrence when they approach, and to strengthen the vehicle's own passive protection capabilities.

[0059] In this embodiment, the stealth warning strategy, the non-confrontational interference strategy, and the safety protection strategy jointly define a progressive three-level risk avoidance response strategy. At least one of the stealth warning strategy, the non-confrontational interference strategy, and the safety protection strategy is selected as the target risk avoidance strategy, thereby selecting the appropriate risk avoidance strategy in different scenarios and improving the success rate of risk avoidance when dangerous animal targets appear near vehicles.

[0060] In some embodiments of this application, animal risk characteristics include identification confidence level, relative distance between the dangerous animal and the vehicle, and animal posture; Based on the animal's status information and the personnel's location information, a target avoidance strategy is determined, including: If the confidence level is greater than the confidence threshold and the relative distance is greater than or equal to the first distance threshold, the stealth warning strategy is determined as the target avoidance strategy; if the relative distance is less than the first distance threshold and / or the personnel are moving towards the vehicle based on the personnel location information, the non-confrontational interference strategy is determined as the target avoidance strategy; if the relative distance is less than the second distance threshold and / or the animal posture is in a preset dangerous posture, the safety protection strategy is determined as the target avoidance strategy; wherein, the second distance threshold is less than the first distance threshold; and the first distance threshold and the second distance threshold correspond to the animal category.

[0061] In this embodiment, when the system determines that the identification confidence level is greater than a confidence threshold and the relative distance between the animal and the vehicle is greater than or equal to a first distance threshold, the target avoidance strategy is determined to be a stealth warning strategy. This judgment condition limits the applicability of this strategy to the early stage where the threat has been confirmed but the distance is still far. This achieves the activation of a stealth warning strategy centered on concealment and preparation when the risk first appears and there is a buffer period, thus buying time and creating a favorable vehicle condition for possible subsequent avoidance without stimulating the animal to actively pay attention.

[0062] Figure 3 The following are schematic diagrams illustrating scenarios of stealth warning strategies according to some embodiments of this application, such as... Figure 3 As shown, when the distance between the dangerous animal 500 and the vehicle 300 is greater than the first distance threshold, the stealth warning strategy is determined to be the target avoidance strategy, regardless of whether the person 400 is inside or outside the vehicle.

[0063] For example, the confidence threshold ranges from 50% to 70%, and the first distance threshold ranges from 30 meters to 50 meters.

[0064] When the system determines that the relative distance between the animal and the vehicle is less than a first distance threshold, and / or determines that the person is moving towards the vehicle based on the person's location information, the target avoidance strategy is determined to be a non-confrontational interference strategy. This judgment condition limits the application of this strategy to the mid-stage when a dangerous animal target approaches the vehicle, and / or when the person begins active avoidance action. This achieves the implementation of a non-confrontational interference strategy that simultaneously guides and interferes with both people and animals when the threat level is high and / or when people are actively avoiding danger. By providing clear guidance for people to return to their vehicles and by gently interfering with the dangerous animal target, the goal is to ensure the safe return of people to their vehicles and delay the animal's approach.

[0065] Figure 4 The following are schematic diagrams illustrating scenarios of non-adversarial interference strategies according to some embodiments of this application, such as... Figure 4 As shown, when the distance between the dangerous animal 500 and the vehicle 300 is less than the first distance threshold, and / or when the person 400 is moving toward the vehicle 300, the stealth warning strategy is determined to be a target avoidance strategy.

[0066] When the system determines that the relative distance between the animal and the vehicle is less than a second distance threshold, and / or the animal's posture is identified as a preset dangerous posture, the target avoidance strategy is determined to be a safety protection strategy. This judgment condition limits the application of this strategy to the emergency stage where a dangerous animal target has entered extremely close range and / or has already shown clear aggressive intent. It enables the activation of the highest-level response plan when danger is imminent, with the aim of attempting to interrupt the animal's aggressive behavior at the last moment through high-intensity deterrence and providing the strongest passive safety protection for the vehicle occupants.

[0067] Figure 5 The following are schematic diagrams illustrating scenarios of security protection strategies according to some embodiments of this application, such as... Figure 5 As shown, if the distance between the dangerous animal 500 and the vehicle 300 is less than the second distance threshold, the safety protection strategy is determined to be the target avoidance strategy, regardless of whether the person 400 is inside or outside the vehicle.

[0068] For example, the second distance threshold ranges from 3 meters to 10 meters, and the preset dangerous postures include, but are not limited to, attack postures, sprint postures, etc.

[0069] For example, for the animal category of "bear", the first distance threshold is set to 30 meters and the second distance threshold is set to 10 meters. The preset dangerous postures include "standing and roaring" and "head down and charging".

[0070] Scenario A: The system detects a bear with 85% confidence and a relative distance of 45 meters. Since the relative distance is ≥30 meters, the stealth warning strategy is determined as the target avoidance strategy.

[0071] Scenario B: The bear approaches to within 25 meters. Since the distance is less than 30 meters, the non-confrontational interference strategy is determined as the target avoidance strategy.

[0072] Scenario C: The bear approaches to within 8 meters and adopts a charging posture with its head down. Since the distance is less than 10 meters and the posture meets the preset dangerous posture, the safety protection strategy is determined to be the target avoidance strategy.

[0073] In this embodiment, the stealth warning strategy, non-confrontational interference strategy, and security protection strategy jointly define a progressive three-level risk avoidance response strategy, and a set of triggering rules is customized for each risk avoidance response strategy. The triggering rules use animal risk characteristics and personnel location information as direct inputs, dividing the continuous threat escalation process into stages, and matching each stage with risk avoidance strategies of different design objectives and response intensities. Through staged condition matching, the matching degree between the target risk avoidance strategy and the current specific situation is improved. Furthermore, the three-level risk avoidance strategy constitutes a progressively escalating protection response mechanism, from early covert preparation, to mid-term two-way guidance and gentle interference, and finally to strong deterrence and defense in the late stage. This avoids overreacting and provoking animals in the early stages of a threat, and also avoids losing the opportunity for protection due to insufficient response in the late stages of a threat. By ensuring that the system response and threat level increase synchronously, the probability of successful risk avoidance in complex and dynamic environments is systematically improved.

[0074] In some embodiments of this application, the target avoidance strategy includes animal intervention actions and / or human assistance actions. Animal intervention actions are used to intervene when a dangerous animal target approaches the vehicle, and human assistance actions are used to assist personnel in turning the vehicle around to avoid the danger. Executing the target avoidance strategy includes: If the target avoidance strategy includes animal intervention actions, execute the animal intervention actions; if the target avoidance strategy includes human assistance actions, execute the human assistance actions based on the human location information.

[0075] In this embodiment, animal intervention actions, within the target avoidance strategy, are a set of vehicle actuator control commands that directly act on the external environment or dangerous animal targets to influence the behavior of the dangerous animal targets, delay their approach, and attempt to drive them away. Human assistance actions, within the target avoidance strategy, are a set of vehicle actuator control commands and human-machine interaction commands that provide information guidance to personnel inside or outside the vehicle and create an operationally convenient environment to assist personnel in completing avoidance operations and improve safety protection.

[0076] When a defined risk avoidance strategy includes animal intervention actions, the relevant implementing agencies are immediately activated to execute these actions. This execution process does not rely on further judgment of personnel location information or animal status information, but rather issues control commands directly based on the target risk avoidance strategy. This allows for timely intervention against identified external threat sources, buying more time or creating favorable conditions for the entire risk avoidance process.

[0077] When a defined risk avoidance strategy includes personnel assistance actions, the system first queries the current personnel location information. Then, based on whether the personnel are inside or outside the vehicle, the system selects and executes the corresponding personnel assistance action from the strategy. This enables the personnel assistance measures to have state awareness capabilities, providing effective and safe operational support based on the personnel's actual location, and avoiding adverse effects on personnel risk avoidance operations due to misjudgment of their state leading to ineffective or erroneous actions.

[0078] It should be noted that the personnel location information includes not only the driver's location information, but also the passenger's location information.

[0079] For example, the action of unlocking the car door is only performed when the person's location information indicates that the person is outside the vehicle, and not when the person's location information indicates that the person is inside the vehicle. This avoids situations where people outside the vehicle cannot return to the car in time, and also prevents dangerous animals from opening the car door when people are inside the vehicle.

[0080] In this embodiment, when animal intervention is determined to be part of the target avoidance strategy, it is executed directly, ensuring that the response to environmental threats is not delayed due to waiting for personnel status confirmation. When personnel assistance is determined to be part of the target avoidance strategy, personnel location information is determined before executing the assistance, avoiding any adverse impact on personnel avoidance. This method of separating and differentiating animal intervention and personnel assistance allows for timely initiation of animal intervention, while avoiding potential safety risks or resource waste due to misjudgment in personnel assistance, thereby improving the safety of the target avoidance strategy during execution.

[0081] In some embodiments of this application, when the target avoidance strategy includes a stealth warning strategy, controlling the vehicle to execute the target avoidance strategy includes: The first prompt information is output based on the personnel location information, wherein the first prompt information is determined based on at least one of the following: the distance information between the personnel and the dangerous animal target, the type information of the dangerous animal target, and the information of avoidance actions. And / or, if it is determined from the personnel location information that the personnel are outside the vehicle, control the vehicle to perform avoidance preparation actions, wherein the avoidance preparation actions include at least one of the following: unlocking the vehicle door, adjusting the driver's seat and steering wheel to an easy entry position, and adjusting the vehicle power system to a drivable standby state; And / or, if it is determined from the personnel location information that the personnel are inside the vehicle, output a second prompt message, wherein the second prompt message is used to prompt the personnel to close the vehicle doors and windows.

[0082] In this embodiment, the first prompt message is an early risk notification and silent behavior suggestion provided by the system to personnel under the stealth warning strategy. The second prompt message is a safety confirmation prompt provided by the system to personnel when they are inside the vehicle under the stealth warning strategy. Both the first and second prompt messages are transmitted using low visual brightness, low volume, or tactile vibration, to avoid attracting the attention of distant dangerous animal targets. Without generating light or sound leakage that could disturb distant animals, the system effectively provides early risk warning to personnel, informing them of the existence of a threat, the type of threat, and a safe distance, and providing calm and appropriate behavioral suggestions.

[0083] Specifically, regardless of whether the person is inside or outside the vehicle, a primary alert message is output. This message can be delivered via vibration from the person's smartwatch, the lowest brightness display on the in-vehicle screen, or a voice message via headphones. The distance information between the person and the dangerous animal target is determined based on the person's location. The evasive action information is a prompt message provided to the person indicating evasive behavior.

[0084] For example, hazard avoidance information may include: advising to remain calm and move slowly; or advising to run back to the vehicle quickly.

[0085] In this embodiment, when it is determined that a person is outside the vehicle based on their location information, the vehicle is controlled to perform evacuation preparation actions. The core of these actions is to put the vehicle into a state where it is "easy for people to enter quickly and silently and can be driven away at any time." By utilizing the window of opportunity when the threat distance is still far, a series of pre-entry preparation operations are completed in advance. This eliminates the time delay and operational noise associated with steps such as unlocking the doors, adjusting the driver's seat and steering wheel to a convenient entry position, and adjusting the vehicle's power system to a ready-to-drive state when the person decides to return to the vehicle, thus achieving a seamless transition from warning to rapid evacuation.

[0086] In this embodiment, when the system determines that a person is inside the vehicle based on their location information, it outputs a second prompt message to the person, reminding them to manually close the windows and doors. Once the person is in a relatively safe environment inside the vehicle, they are prompted to make a final check of the vehicle's sealing status to ensure that the doors and windows are closed or locked. This reinforces the vehicle's passive safety barrier and prevents the automatic locking of windows and doors from adversely affecting the person inside, preparing for potential escalation of threats.

[0087] It should be noted that the doors and windows will not automatically lock when people are inside the vehicle. This prevents other people outside from being unable to enter the vehicle and avoids causing unnecessary fright to people. The prompting method can remind people and give them the option to lock or not lock the doors and windows.

[0088] For example, if a vehicle detects a wolf pack 200 meters away with an 80% confidence level, it triggers a stealth warning strategy. If the occupants are camping outside the vehicle, their watches vibrate and output the first warning message: "Wolf pack detected 200 meters to the northeast. Remain calm and move slowly." Simultaneously, the vehicle automatically unlocks, the driver's seat reclines, the steering wheel moves back, and the vehicle enters ignition mode. If the occupants are already resting inside the vehicle, the infotainment screen displays a second warning message at minimum brightness: "Wolf pack detected 200 meters to the northeast. Please ensure all windows are closed."

[0089] In this embodiment, when executing the stealth warning strategy, both the first and second warning messages output by the vehicle avoid using strong light and high-pitched sounds, thus preventing stimulation of dangerous animal targets and effectively preventing the system from actively attracting or provoking them in the early stages of a threat due to improper response. Furthermore, when personnel are not in the vehicle, automated hazard preparation actions facilitate entry, ensuring the vehicle is always ready to move, reducing the manual operation process and time required for personnel to move from outside to inside. By combining silent warning with automated vehicle entry preparation, the system avoids attracting the attention of distant dangerous animal targets, enabling effective guidance and preparation for personnel in the early stages of a threat, thus equipping the vehicle with the ability to provide early warning and preparation assistance for dangerous animal targets.

[0090] like Figure 3 As shown, when the stealth warning strategy is executed, if person 400 is outside the cabin of vehicle 300, a first prompt message is output to person 400's smart device to alert the user. If person 400 is outside the cabin, the door is unlocked and the driver's seat and steering wheel are adjusted to a convenient entry position; if person 400 is inside the cabin, a second prompt message is output inside the cabin via the audio playback unit.

[0091] In some embodiments of this application, when the target avoidance strategy includes a non-confrontational interference strategy, controlling the vehicle to execute a target avoidance strategy includes: At least control the vehicle to perform the first animal intervention action; the first animal intervention action includes: Play animal guidance audio corresponding to the animal's status information, and / or control the vehicle's external light source to operate according to the first light-emitting mode corresponding to the animal's status information.

[0092] In this embodiment, the animal guidance audio is audio played through an external speaker when a non-confrontational interference strategy is implemented. This animal guidance audio is audio corresponding to animal state information and is a pre-recorded sound used to guide or interfere with the target behavior of a specific category of dangerous animals. The content of the animal guidance audio is selected based on animal behavior research.

[0093] For example, gentle human dialogue is played for bears, while howls of other canines are played for canines.

[0094] In this embodiment, the first emission mode is a specific operating mode followed when controlling external light sources of the vehicle, such as headlights and daytime running lights, during the execution of a non-confrontational interference strategy. The first emission mode is a non-sudden and low-frequency change in brightness, thereby providing a mild visual cue or disturbance to the animal.

[0095] For example, the first illumination mode is a gradual brightening of the headlights from low brightness to medium brightness.

[0096] Specifically, when the target avoidance strategy is a non-confrontational interference strategy, the first animal intervention action included in it is executed. This action includes playing animal guidance audio corresponding to the currently identified animal category, and / or controlling the vehicle's external light sources to operate according to a first illumination pattern matched to the animal category and the current situation. By utilizing the animal's instinctive reactions to specific sounds and / or light, non-aggressive behavioral guidance or decision interference is provided to slow the approach speed of the dangerous animal target and / or change its attention direction, rather than inducing aggression through strong stimulation.

[0097] For example, if a coyote is detected loitering 15 meters to the right of the vehicle, a non-confrontational interference strategy is triggered. The system first performs an animal intervention action: playing a warning howl of a North American coyote.

[0098] In this embodiment of the application, during the triggering of the non-confrontational interference strategy, the vehicle performs a first animal intervention action. The first animal intervention action includes outputting an animal guidance audio that matches the animal category, thereby realizing non-confrontational behavioral intervention and guidance of dangerous animal targets. The guidance is based on animal behavior principles, rather than driving away dangerous animal targets through stimulation, thus avoiding the risk of angering dangerous animal targets due to inappropriate stimulation in the middle of the threat, making their behavior unpredictable or even triggering direct attacks.

[0099] In some embodiments of this application, at least when the vehicle is controlled to perform the first animal intervention action, the vehicle avoidance method further includes: In response to determining that a person is outside the vehicle based on the person's location information, a first person assistance action is performed; the first person assistance action includes: outputting person guidance audio to the person and / or controlling the vehicle's internal light source to operate in a second illumination mode, wherein the person guidance audio is used to guide the person back to the vehicle.

[0100] In this embodiment, the personnel guidance audio is the audio played by the system through the vehicle's infotainment system or the personnel's personal device when the personnel are outside the vehicle during the execution of the non-confrontational interference strategy. The personnel guidance audio is used to guide the personnel to safely return to the vehicle.

[0101] For example, the personnel guidance audio includes personnel navigation information and behavioral attention information. The personnel navigation information is used to suggest the best route for personnel to return to the vehicle, which can avoid attracting the attention of dangerous animal targets. The behavioral attention information is used to suggest behavioral precautions for personnel when returning to the vehicle, such as not shouting.

[0102] In this embodiment, the second light-emitting mode is a specific operating mode followed when controlling the vehicle's interior light sources, such as dome lights, reading lights, and ambient lights, during the execution of a non-confrontational interference strategy. This mode enables the interior lighting to achieve high brightness and is typically warm color temperature, making the vehicle an easily identifiable visual landmark in dimly lit external environments. In other words, after the vehicle controls its interior light sources according to the second light-emitting mode, the resulting visually easily locating image of a luminous object can guide people to pinpoint the vehicle's exact location in complex or dark environments.

[0103] Specifically, when the target avoidance strategy is a non-confrontational interference strategy and the personnel are outside the vehicle, the vehicle outputs audio guidance containing clear navigation information to guide the personnel back to the vehicle; and controls the vehicle's internal light sources to operate in a second illumination mode. By providing clear action guidance to the personnel through audio and by turning the vehicle into a high-brightness visual landmark, it provides clear directional reference for the personnel visually, thereby reliably guiding them back to a safe area.

[0104] For example, if a coyote is detected loitering 15 meters to the right of the vehicle, a non-confrontational interference strategy is triggered. The system performs the first animal intervention action: playing a warning howl of a North American coyote. Simultaneously, it performs the first human assistance action: slowly increasing the headlights from off to 30% brightness. At the same time, since a person is detected approximately 10 meters outside the vehicle, the system calmly announces through the vehicle's external speakers: "Danger approaching, please immediately return to the vehicle along the left side," and adjusts all interior lights to their brightest warm white to ensure clear visibility of the vehicle in the night.

[0105] In this embodiment, during the triggering of the non-confrontational interference strategy, while the vehicle performs the first animal intervention action, a first personnel assistance action is simultaneously executed. This first personnel assistance action includes outputting personnel guidance audio to personnel and controlling the vehicle's internal light sources to operate in a second illumination mode to form a prominent visual landmark, thereby guiding personnel to return to the vehicle. By combining non-provoking interference with dangerous animal targets with efficient personnel guidance, the system solves the problems of the lack of non-provoking response strategies for different animals and the inability to provide effective proactive guidance to personnel when threats escalate. This improves the overall safety and success rate of hazard avoidance in more complex mid-term threat scenarios.

[0106] like Figure 4 As shown, when executing the non-confrontational interference strategy, when personnel 400 are outside the cabin of vehicle 300 and moving towards vehicle 300, guiding audio is output to personnel 400's smart device. The guiding audio is played through the smart device to guide the user back to the vehicle, and the vehicle's internal light source is controlled to operate in a second illumination mode, making the vehicle an easily identifiable visual landmark in the dimly lit external environment. Vehicle 300 plays animal guiding audio to dangerous animal 500 and controls the external light source to operate in a first illumination mode to interfere with dangerous animal 500's approach to vehicle 300.

[0107] In some embodiments of this application, when the target avoidance strategy includes a safety protection strategy, controlling the vehicle to execute the target avoidance strategy includes: The vehicle shall be controlled to perform at least a second animal intervention action; the second animal intervention action includes: controlling the vehicle's external light source to flash at a high frequency, and / or controlling the vehicle's horn to sound continuously, and / or controlling the external speakers to play animal deterrent audio at a preset volume.

[0108] In this embodiment, high-frequency strobe is a high-frequency alternating on / off operating mode of the vehicle's external light sources, thereby producing a strong and dazzling visual effect. Animal deterrence audio is a preset sound file played through external speakers, consisting of high-decibel and / or specific frequency combinations, designed to frighten or drive away dangerous animal targets.

[0109] For example, the frequency range of a high-frequency strobe is 10Hz to 20Hz. Animal deterrence audio can be a high-decibel blast.

[0110] Specifically, when implementing safety protection strategies, the system simultaneously or sequentially executes its secondary animal intervention actions. By controlling high-frequency flashing of external light sources, continuous honking of the vehicle horn, and playing animal deterrent audio at maximum volume through external speakers, it drives away dangerous animal targets through high-intensity visual and auditory output. In emergency situations where a dangerous animal target is extremely close or shows clear aggression, the system activates the highest-intensity multi-sensory active deterrence, attempting to interrupt the animal's aggressive behavior or force it to retreat by creating a strong combination of sound and light stimuli.

[0111] For example, if a wild boar is determined to have crossed the minimum safe distance, such as entering within 3 meters, and is lowering its head in a charging posture, the safety protection strategy is triggered. The second animal intervention action is immediately executed: all external vehicle lights begin high-frequency flashing, horns sound continuously, and external speakers play a deterrent audio message containing a mixture of sharp noises and the roars of a wild animal.

[0112] In this embodiment of the application, entering the safety protection stage means that the dangerous animal target has entered within the unsafe distance. By initiating the animal intervention action with the highest intensity of active deterrence, a means is provided to attempt to actively drive away or interrupt the attack of the dangerous animal target in extreme situations.

[0113] In some embodiments of this application, when controlling the vehicle to perform a second animal intervention action, the vehicle avoidance method further includes: in response to determining that a person is inside the vehicle based on the person's location information, controlling the vehicle to perform a second person assistance action, wherein the second person assistance action includes at least one of the following: controlling the window to rise to a safe position, outputting a door locking prompt message, controlling the door to lock, and controlling the air conditioning system to switch to recirculation mode.

[0114] In this embodiment, when the safety protection strategy is implemented and the occupants are inside the vehicle, the vehicle is immediately controlled to perform a second occupant assistance action. This second occupant assistance action includes automatically raising all windows to a preset safe position, automatically locking all doors, and switching the air conditioning recirculation mode to internal recirculation mode. While activating external active deterrence, the vehicle's own physical safety barriers and environmental isolation performance are simultaneously strengthened, providing the occupants with a sealed, secure protective space that is partially isolated from the external environment.

[0115] It should be noted that the safe position allows the windows to be fully rolled up and closed, and the air conditioning recirculation mode to be switched to internal recirculation mode to reduce the entry of toxic gases released by dangerous animal targets into the vehicle cabin.

[0116] For example, if a wild boar is detected to have crossed the minimum safe distance, such as entering within 3 meters, and is crouching down in a charging posture, the safety protection strategy is triggered. The second animal intervention action is immediately executed: all external vehicle lights begin high-frequency flashing, horns sound continuously, and external speakers play a deterrent audio message containing a mixture of sharp noises and wild animal roars. Simultaneously, since the system detects a person in the driver's seat, the second occupant assistance action is immediately executed: all windows are automatically raised to a fully locked position, all doors are locked, and the air conditioning is switched to recirculation mode.

[0117] In this embodiment, entering the safety protection phase signifies that the dangerous animal target has entered within an unsafe distance. Simultaneously, the highest-intensity active deterrence animal intervention is initiated, along with a series of automated passive safety enhancement personnel assistance actions. The synchronized execution of active deterrence animal intervention and passive protection personnel assistance actions constitutes a final, combined active and passive, collaborative protective barrier before danger occurs, achieving the dual objectives of enhanced protection for vehicle occupants and the removal of dangerous animal targets.

[0118] like Figure 5 As shown, when implementing the safety protection strategy, if person 400 is inside the cabin of vehicle 300, a door locking prompt message will be output via the in-vehicle screen or audio playback unit to remind the user to lock the doors and switch the air conditioning to recirculation mode to prevent gases emitted by the dangerous animal 500 from entering the cabin. Vehicle 300 will control the horn to sound continuously and / or play animal deterrent audio, and control the external light source to flash at high frequency to attempt to drive away the dangerous animal 500.

[0119] In some embodiments of this application, after determining the target avoidance strategy based on animal status information and personnel location information, the vehicle avoidance method further includes: The animal status information and personnel location information are updated at preset intervals; based on the updated animal status information and personnel location information, the target avoidance strategy is updated.

[0120] In this embodiment, after determining and implementing the target avoidance strategy based on initial information, the system initiates a periodic monitoring cycle. This cycle has a preset duration. At the end of each cycle, the system re-acquires the latest animal status information through the environmental perception module and the latest personnel location information through the personnel status assessment module. This establishes a continuous and stable information update mechanism, enabling the system to continuously track the location changes of dangerous animal targets and protected subjects at a fixed frequency, further providing a real-time data foundation for dynamically adjusting the target avoidance strategy.

[0121] Upon receiving updated animal status and personnel location information, the system immediately uses this latest data as input to re-execute the strategy decision-making logic. The system compares the latest animal status and personnel location information with the applicable conditions of the currently executing target avoidance strategy to determine if the current strategy is still optimal. If not, a new target avoidance strategy is determined based on the latest information, and the vehicle is controlled to switch to executing this new strategy.

[0122] In this embodiment, by periodically updating animal status information and personnel location information at preset intervals, the target avoidance strategy is further updated, thereby realizing dynamic evaluation and iterative optimization of the target avoidance strategy. This ensures that the system response can closely follow the real-time evolution of the on-site situation and avoids the target avoidance strategy from becoming outdated and ineffective due to information lag.

[0123] Figure 6 Schematic block diagrams of vehicle avoidance devices according to some embodiments of this application are shown, such as Figure 6 As shown, the vehicle avoidance device 600 includes: The acquisition module 601 is used to acquire animal status information and personnel location information when the vehicle is parked and an animal recognition event is detected. The animal recognition event indicates that there is a dangerous animal target in a preset area around the vehicle. The animal status information is determined based on the status of the dangerous animal target. The personnel location information is used to represent the relative position between the personnel associated with the vehicle and the vehicle. The determination module 602 is used to determine the target avoidance strategy based on animal status information and personnel location information; The control module 603 is used to control the vehicle to execute target avoidance strategies.

[0124] In this embodiment, when an animal identification event is detected, animal status information and personnel location information are automatically acquired, enabling simultaneous monitoring and perception of external threat information and personnel status. This provides a data foundation for subsequent risk avoidance decisions. By combining animal status information and personnel location information to determine the target risk avoidance strategy, the process of formulating the target risk avoidance strategy is coupled with external threat information and personnel status information. This ensures that the target risk avoidance strategy is both risk-specific and personnel-adaptable, avoiding the inability of a single alarm response mode to cope with different types of dangerous animals, as well as personnel safety risks caused by improper system access. By automating the execution of the target risk avoidance strategy into actual actions performed by the vehicle, personnel do not need to manually perform multiple operations in emergency situations, avoiding situations where complex operations may delay the time for risk avoidance. Therefore, a complete risk avoidance process is established, from risk perception to targeted risk avoidance strategy formulation, and then to automatic execution of the risk avoidance strategy. This enables vehicles to provide proactive early warning and risk avoidance assistance to personnel in outdoor scenarios such as camping, thereby reducing the safety risks caused by dangerous animals in the wild.

[0125] It should be noted that when the vehicle is controlled by the vehicle avoidance device in the embodiments of this application, the specific implementation method is similar to the specific implementation method of the vehicle avoidance method in any of the above embodiments of the present invention. Therefore, for a detailed exemplary description of the execution process of the vehicle avoidance method, please refer to the relevant description section of the vehicle avoidance method mentioned above. To reduce redundancy, it will not be repeated here.

[0126] In some embodiments of this application, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the methods provided in any of the above embodiments.

[0127] In some embodiments of this application, an electronic device is also provided, including: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the methods provided in any of the above embodiments.

[0128] In some embodiments of this application, a vehicle is also provided, including: a controller, the controller including a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing a computer program, and the processor executing the computer program to perform the method as provided in the first aspect.

[0129] For example, the controller in the vehicle can be the electronic device described in the above embodiments.

[0130] It should be noted that, in this document, relational terms such as "first" and "second" are used merely 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 said element.

[0131] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement 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 described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle hazard avoidance method, characterized in that, include: When the vehicle is parked and an animal recognition event is detected, animal status information and personnel location information are acquired. The animal recognition event indicates the presence of a dangerous animal target within a preset area around the vehicle, and the animal status information is determined based on the status of the dangerous animal target. The personnel location information is used to represent the relative position between the personnel associated with the vehicle and the vehicle. Based on the animal status information and the personnel location information, a target avoidance strategy is determined; Control the vehicle to execute the target hazard avoidance strategy.

2. The vehicle avoidance method according to claim 1, characterized in that, The animal status information includes: the animal category of the dangerous animal target and the animal risk characteristics of the dangerous animal target; The step of determining the target avoidance strategy based on the animal status information and the personnel location information includes: Select a set of target strategies from the risk avoidance strategy library based on the animal category; Based on the personnel location information and the animal risk characteristics, the target risk avoidance strategy is determined from at least two preset risk avoidance strategies in the target strategy set.

3. The vehicle hazard avoidance method according to claim 1, characterized in that, The target avoidance strategy includes at least one of the following: stealth warning strategy, non-confrontational interference strategy, and security protection strategy, wherein: The stealth warning strategy is used to perform protective preparations without disturbing the dangerous animal target; The non-confrontational interference strategy is used to transmit guidance signals to personnel and the dangerous animal target to slow the dangerous animal target from approaching personnel and vehicles and / or guide personnel to approach the vehicle according to the safety protection strategy. The security strategy is used to drive away the dangerous animal target.

4. The vehicle hazard avoidance method according to claim 3, characterized in that, The animal risk characteristics include identification confidence level, the relative distance between the dangerous animal and the vehicle, and the animal's posture; The step of determining the target avoidance strategy based on the animal status information and the personnel location information includes: If the identification confidence level is greater than the confidence level threshold and the relative distance is greater than or equal to the first distance threshold, the stealth warning strategy is determined to be the target avoidance strategy. If the relative distance is less than the first distance threshold, and / or if it is determined from the personnel location information that the personnel are moving toward the vehicle, the non-confrontational interference strategy is determined to be the target avoidance strategy. If the relative distance is less than the second distance threshold and / or the animal posture is in a preset dangerous posture, the safety protection strategy is determined to be the target avoidance strategy. Wherein, the second distance threshold is less than the first distance threshold; and the first distance threshold and the second distance threshold correspond to the animal category.

5. The vehicle avoidance method according to any one of claims 1 to 4, characterized in that, When the target risk avoidance strategy includes a stealth warning strategy, controlling the vehicle to execute the target risk avoidance strategy includes: A first prompt message is output based on the personnel location information, wherein the first prompt message is determined based on at least one of the distance information between the personnel and the dangerous animal target, the type information of the dangerous animal target, and the avoidance action information. And / or, if it is determined from the personnel location information that the personnel are outside the vehicle, control the vehicle to perform a hazard avoidance preparation action, wherein the hazard avoidance preparation action includes at least one of the following: unlocking the vehicle door, adjusting the driver's seat and steering wheel to a convenient entry position, and adjusting the vehicle power system to a drivable standby state; And / or, if it is determined from the personnel location information that a person is inside the vehicle, a second prompt message is output, wherein the second prompt message is used to prompt the closing of the vehicle doors and windows.

6. The vehicle avoidance method according to any one of claims 1 to 4, characterized in that, When the target avoidance strategy includes a non-confrontational interference strategy, controlling the vehicle to execute the target avoidance strategy includes: At least control the vehicle to perform the first animal intervention action; The first animal intervention action includes: playing animal guidance audio corresponding to the animal state information, and / or controlling the external light source of the vehicle to operate according to a first light emission mode corresponding to the animal state information.

7. The vehicle hazard avoidance method according to claim 6, characterized in that, When at least the vehicle is controlled to perform the first animal intervention action, the vehicle avoidance method further includes: In response to determining, based on the personnel location information, that a person is outside the vehicle, a first personnel assistance action is performed; The first personnel assistance action includes: outputting personnel guidance audio to the personnel and / or controlling the vehicle's internal light source to operate in a second illumination mode, wherein the personnel guidance audio is used to guide the personnel back to the vehicle.

8. The vehicle avoidance method according to any one of claims 1 to 4, characterized in that, When the target risk avoidance strategy includes a safety protection strategy, controlling the vehicle to execute the target risk avoidance strategy includes: At least control the vehicle to perform the second animal intervention action; The second animal intervention action includes: controlling the external light source of the vehicle to flash at a high frequency, and / or controlling the vehicle horn to sound continuously, and / or controlling the external speakers of the vehicle to play animal deterrent audio at a preset volume.

9. The vehicle avoidance method according to claim 8, characterized in that, When at least the vehicle is controlled to perform the second animal intervention action, the vehicle avoidance method further includes: In response to determining that a person is inside the vehicle based on the person's location information, the vehicle is controlled to perform a second person-assistance action, wherein the second person-assistance action includes at least one of the following: controlling the window to rise to a safe position, outputting a door locking prompt message, controlling the door to lock, and controlling the air conditioning system to switch to recirculation mode.

10. The vehicle avoidance method according to any one of claims 1 to 4, characterized in that, After determining the target avoidance strategy based on the animal status information and the personnel location information, the vehicle avoidance method further includes: The animal status information and the personnel location information are updated at preset intervals. The target avoidance strategy is updated based on the updated animal status information and the updated personnel location information.

11. An electronic device, characterized in that, include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method as described in any one of claims 1 to 10.

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