Animal repelling system, repelling control method, device, electronic equipment and storage medium thereof

Abstract

This application discloses an animal deterrence system and its deterrence control method, device, electronic equipment, and storage medium. The animal deterrence system is applied to vehicles and specifically includes a perception layer, a decision-making layer, an execution layer, and an interaction layer. During vehicle operation, the perception layer continuously collects information such as forward images, distance, vehicle speed, light intensity, and ambient sound. The decision-making layer fuses and judges the information, identifies the animal, calculates the safe distance, and determines the deterrence strategy. The execution layer initiates ultrasonic deterrence or triggers emergency braking according to instructions. The interaction layer simultaneously displays the status to the driver and provides an operation interface. The entire system achieves fully automatic, intelligent, and highly reliable animal deterrence control, effectively improving vehicle driving safety. This allows the vehicle to deter animals from the lane while in motion, solving the problem of animals trespassing into the lane threatening driving safety.

Description

Technical Field

[0001] This application relates to the field of intelligent assisted driving technology, and more specifically, to an animal deterrence system and its deterrence control method, device, electronic device and storage medium. Background Technology

[0002] With the continuous popularization and upgrading of intelligent assisted driving technology, vehicle active safety systems have been widely applied in scenarios such as collision warning, emergency braking, and pedestrian avoidance, significantly improving road driving safety. However, in scenarios such as nighttime driving, suburban roads, rural roads, highways, and rural road sections, due to complex road conditions, insufficient lighting, and limited visibility, situations frequently occur where cats, dogs, poultry, and wild animals suddenly wander into the lane, easily causing traffic accidents where vehicles collide with animals. Such accidents not only cause animal injuries and deaths, vehicle exterior damage, and component damage, but also force drivers to take dangerous actions such as sudden braking and sharp steering in emergency situations, leading to more serious secondary accidents such as rear-end collisions, rollovers, and running off the road, posing a great threat to the lives of drivers and passengers.

[0003] In existing technologies, conventional vehicle perception and warning systems are mainly designed for targets such as vehicles and pedestrians, lacking designs for identifying and driving away animal targets. Moreover, they generally only have warning or braking avoidance functions, which cannot fundamentally solve the threat to driving safety posed by animals that have entered the lane. Summary of the Invention

[0004] In view of this, this application provides an animal deterrence system and its deterrence control method, device, electronic device and storage medium, which enables vehicles to deter animals from the lane during driving, so as to solve the problem of the threat to driving safety caused by animals that have broken into the lane.

[0005] To achieve the above objectives, the following solution is proposed: An animal deterrence system, applied to a vehicle, comprises a perception layer, a decision-making layer, an execution layer, and an interaction layer, wherein: The perception layer is used to collect various road state parameters of the vehicle and its surrounding environment based on multiple perception periods when the vehicle is driving normally in the lane. The decision layer is used to perform fusion logic processing on the multiple road state parameters, and determine whether to perform animal removal operation based on the road condition recognition result corresponding to the road state parameters. The execution layer is used to execute the animal removal operation by sending ultrasonic waves in the target direction when the decision determines that an animal removal operation needs to be performed. The interaction layer is configured to interact with the user to implement operation commands, and is also configured to display some or all of the information in the road condition recognition results, driving status, and sound wave coverage range.

[0006] Optionally, the perception layer includes a forward-facing camera, millimeter-wave radar, light sensor, vehicle speed sensor, and microphone array.

[0007] Optionally, the decision layer includes a fusion control unit, which comprises an image quality assessment module, a road condition judgment unit, an animal type recognition unit, and a safe distance calculation unit, wherein: The image quality assessment module is used to calculate the sharpness index of the foreground image acquired by the perception layer based on the edge detection algorithm. The road condition judgment module is used to determine the current road condition based on the electronic map and the forward image; The animal type identification unit is used to process the foreground image based on a deep learning model to obtain the animal type; The safe distance calculation module is used to calculate the safe distance based on the vehicle speed, the animal type, and the road surface adhesion coefficient.

[0008] Optionally, the execution layer includes a phased array ultrasonic transmitting array, a display control unit, and an AEB braking interface, wherein: The phased array ultrasonic transmitter array is used to emit ultrasonic waves in a preset direction when the decision to drive away is made; The display control unit is used to control the interaction layer to display part or all of the road condition recognition results, the driving status, and the sound wave coverage range; The AEB braking interface is used to send braking control commands to the vehicle's braking system to cause the braking system to perform emergency braking.

[0009] Optionally, the interaction layer includes an enhanced display module, a central control interface, and shortcut buttons, wherein: The enhanced display module is used to display part or all of the road condition recognition results, the driving status, and the sound wave coverage area; The central control interface is used to implement operation command interaction based on the touch control panel; The shortcut key is used to send an emergency expulsion control command to the execution layer based on the user's operation. The emergency expulsion control command is used to control the execution layer to perform an emergency expulsion.

[0010] A method for controlling animal expulsion, applied to the animal expulsion system described above, optionally comprising the steps of: After the vehicle is powered on, the animal deterrence system is controlled to enter the working state when the vehicle's state meets preset conditions. The driving mode is determined based on the image quality of the frontal view of the vehicle; When an animal is detected in front of the vehicle, a safe distance is calculated based on the animal type; Execute a multi-level driving strategy based on the aforementioned safe distance and triggering conditions; When implementing the multi-level driving strategy, the animal's vocal characteristics are analyzed, and subsequent driving strategies are adopted based on the analysis results.

[0011] Optionally, determining the disengagement mode based on the image quality of the vehicle's forward image includes the following steps: Acquire a forward image of the vehicle; Calculate the image quality index of the foreground image; The removal mode is determined based on the relationship between the graphics quality index and a preset threshold. The removal mode is either a targeted mode or a hybrid mode.

[0012] Optionally, the multi-level deportation strategy includes a preventive deportation strategy, a mandatory deportation strategy, and an emergency braking strategy.

[0013] Optionally, the step of analyzing animal vocal characteristics during the execution of the multi-level deterrence strategy and taking subsequent deterrence strategies based on the analysis results includes the following steps: When the animal's vocal characteristics are analyzed and it is determined that a high-frequency screaming feature or an animal running feature is detected, the power required to execute the driving-away strategy is reduced in a preset step. When analysis of the animal's vocal characteristics determines that no change in sound is detected within a preset duration, the power is increased in a preset increment or the sound frequency for executing the driving-away strategy is switched.

[0014] A deportation control device, applied to the animal deportation system described above, the deportation control device comprising: The system activation module is configured to control the animal deterrence system to enter the working state when the state of the vehicle meets preset conditions after the vehicle is powered on. The mode determination module is configured to determine the drive-off mode based on the image quality of the frontal image of the vehicle; The distance calculation module is configured to calculate a safe distance based on the animal type when an animal is detected in front of the vehicle. The expulsion execution module is configured to execute a multi-level expulsion strategy based on the safe distance and triggering conditions; The feedback operation module is configured to analyze the animal's vocal characteristics when executing the multi-level driving strategy, and to take subsequent driving strategies based on the analysis results.

[0015] An electronic device includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs or instructions; The processor is used to execute the computer program or instructions to enable the electronic device to implement the drive-away control method as described above.

[0016] A computer-readable storage medium is applied to an electronic device, the storage medium carrying one or more computer programs that can be executed by the electronic device to enable the electronic device to perform the drive-off control method as described above.

[0017] As can be seen from the above technical solution, this application discloses an animal deterrence system and its deterrence control method, device, electronic equipment, and storage medium. This animal deterrence system is applied to vehicles and specifically includes a perception layer, a decision-making layer, an execution layer, and an interaction layer. During vehicle operation, the perception layer continuously collects information such as forward images, distance, vehicle speed, light intensity, and ambient sound; the decision-making layer fuses and judges the information, identifies the animal, calculates the safe distance, and determines the deterrence strategy; the execution layer initiates ultrasonic deterrence or triggers emergency braking according to instructions; and the interaction layer simultaneously displays the status to the driver and provides an operation interface. The entire system achieves fully automatic, intelligent, and highly reliable animal deterrence control, effectively improving vehicle driving safety. This allows the vehicle to deter animals from the lane during operation, solving the problem of animals trespassing into the lane threatening driving safety. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A diagram illustrating how vehicles use ultrasound to drive away animals. Figure 2 This is a structural block diagram of an animal deterrence system according to an embodiment of this application; Figure 3 This is a schematic diagram of the phased array ultrasonic transmission principle and directional beam according to an embodiment of this application; Figure 4 This is a schematic diagram of the control center interface of the animal deterrence system according to an embodiment of this application; Figure 5 This is a flowchart of a drive-off control method according to an embodiment of this application; Figure 6 This is a block diagram of a claim control device according to an embodiment of this application; Figure 7This is a block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] The animal deterrence system described in this application is applicable to vehicles using ultrasonic waves to actively deter animals such as cats and dogs in scenarios such as highways, suburban roads, and rural roads, thereby improving driving safety. Figure 1 As shown.

[0022] Figure 2 This is a structural block diagram of an animal deterrent system according to an embodiment of this application.

[0023] like Figure 2 As shown, the animal deterrence system provided in this embodiment is mounted on a vehicle and consists of a four-layer architecture: a perception layer, a decision-making layer, an execution layer, and an interaction layer. Each layer works independently yet collaboratively to achieve automatic identification, intelligent judgment, directional ultrasonic deterrence, and human-machine interaction feedback of animals in front.

[0024] The perception layer is responsible for collecting multi-dimensional information such as the vehicle's driving status and the environment in front of the vehicle. It works continuously while the vehicle is driving normally, collecting road state parameters through various sensors, including a forward-facing camera, millimeter-wave radar, light sensor, vehicle speed sensor (VSS), and microphone array.

[0025] The forward-facing camera is positioned inside the vehicle's windshield or front grille to collect image data of the road ahead, providing visual input for subsequent image quality assessment, animal identification, and road condition judgment. This camera features visible light imaging and nighttime infrared illumination capabilities, with a resolution of at least 8 megapixels, enabling it to output high-definition images of the road ahead for animal target identification, image quality assessment, and road condition judgment.

[0026] Millimeter-wave radar, deployed in conjunction with a forward-facing camera, is used to detect the distance between a vehicle and animals or obstacles in front in real time, outputting high-precision distance data. Millimeter-wave radar is an automotive-grade radio frequency ranging sensor, typically operating in the 77GHz automotive-specific frequency band, and is installed inside the front grille or front bumper. This radar detects the distance, speed, and angle of targets ahead by emitting and receiving millimeter-wave electromagnetic waves, with an effective detection range of 0.5m to 150m and a ranging accuracy of ±0.1m. Its function is to obtain accurate distance information between the vehicle and animals in front in a non-contact, all-weather manner, unaffected by environmental conditions such as light, rain, fog, and dust, providing a reliable distance basis for deterrence decisions.

[0027] A light sensor is used to collect ambient light intensity in real time, providing environmental parameters for image quality assessment and operating mode determination. As an in-vehicle ambient light intensity detection device, it is typically installed above the dashboard, near the windshield, to collect external ambient light intensity. This sensor converts light intensity into a voltage or digital signal, with the output unit being lux, and can distinguish between strong light, weak light, and darkness. Its function is to provide ambient brightness parameters to the image quality assessment module, assisting in determining the reliability of the current visual recognition.

[0028] The vehicle speed sensor communicates with the vehicle's powertrain system to acquire the current vehicle speed signal in real time, providing a basis for safe distance calculation and deterrence strategy determination. The vehicle speed sensor is a vehicle speed detection device that communicates with the vehicle's transmission, wheel wells, or the vehicle's CAN bus; it is a standard vehicle sensor. This sensor collects wheel rotation speed or transmission output shaft speed in real time and converts it into a vehicle speed signal, measured in km / h or m / s. Its function is to provide real-time vehicle speed input for safe distance calculation, deterrence intensity adjustment, and system activation determination.

[0029] The microphone array is used to collect ambient sound signals for monitoring the effectiveness of the ultrasonic deterrent and assessing ambient noise. The array consists of multiple MEMS digital microphones, typically arranged in a triangular configuration of three microphones, mounted on the front of the roof, the upper edge of the windshield, or inside the A-pillar. MEMS microphones feature high sensitivity, low noise, and wide frequency response, enabling them to collect audio signals such as ambient sounds, animal calls, and vehicle noise, and supporting sound localization and spectrum analysis. Their function is to monitor the effectiveness of the ultrasonic deterrent by recognizing features such as animal cries and fleeing footsteps to determine whether the deterrent is effective.

[0030] The aforementioned sensing devices synchronously collect information and transmit it to the decision-making layer in real time, forming a multimodal sensing input.

[0031] The decision-making layer is responsible for fusing and processing the perceived multi-dimensional information, identifying road conditions and animal types, calculating safe distances, determining whether to remove animals, and issuing decision instructions when it is determined that removal is necessary. Specifically, this includes a fusion control unit, which, as the core processing unit of the system, receives all data output from the perception layer and performs logical operations and judgments. The fusion control unit specifically includes an image quality assessment module, a road condition judgment module, an animal type recognition module, and a safe distance calculation module.

[0032] The image quality assessment module receives the frontal image captured by the front-view camera, processes the image based on the edge detection algorithm, calculates the sharpness index of the frontal image, and determines whether the image meets the requirements for accurate recognition, providing a basis for subsequent drive-away mode selection.

[0033] The road condition assessment module receives navigation map data and forward-facing camera images, and determines the current road type by combining map information with visual recognition results, including highways, urban roads, suburban roads, or rural roads.

[0034] The animal type recognition module is based on a pre-trained deep learning model. It performs target recognition and classification on the images captured by the front-view camera and outputs the recognized animal categories, such as cats and dogs, in order to match the corresponding deportation parameters.

[0035] The safe distance calculation module is used to dynamically calculate the safe distance under the current working conditions based on the vehicle speed obtained by the vehicle speed sensor, the animal category output by the animal type recognition module, and the road surface adhesion coefficient, which serves as the basis for the judgment of graded expulsion.

[0036] Based on the comprehensive processing results of the above modules, the decision-making layer determines whether there are animals ahead and whether the conditions for driving them away are met, and then outputs the corresponding driving away control command to the execution layer.

[0037] The execution layer is used to carry out animal removal operations according to the instructions of the decision-making layer and can be linked to the vehicle braking system. Specifically, it includes a phased array ultrasonic transmitter array, a display control unit, and an AEB braking interface.

[0038] The phased array ultrasonic transmitter is positioned at the front grille of the vehicle and consists of multiple independently controllable ultrasonic transmitters, specifically as follows: Figure 3 As shown, when the decision-making level determines that a removal operation is necessary, the phased array ultrasonic transmitter emits directional ultrasonic waves in a preset direction based on the target location, achieving targeted removal of the animal with concentrated energy and high removal efficiency.

[0039] The display control unit is electrically connected to the interaction layer and is used to process information such as road condition recognition results, eviction status, and sound wave coverage output by the decision layer, and drive the interaction layer to complete the visualization display.

[0040] The AEB braking interface is a communication interface connected to the vehicle's AEB (Autonomous Emergency Braking) system. When the decision-maker determines that an animal is too close, attempts to drive it away are ineffective, and there is a risk of collision, a braking control command is sent to the braking system through this interface, causing the vehicle to perform emergency braking and providing final safety protection.

[0041] The interaction layer is used to realize human-machine interaction between the driver and the system, including the enhanced display module, the central control interface, and shortcut buttons.

[0042] The enhanced display module is preferably an AR-HUD enhanced display device, projected onto the vehicle's windshield to display information such as road condition recognition results, current clearance status, sound wave coverage area, and animal location markers, allowing the driver to obtain safety alerts without looking down. Figure 4 As shown.

[0043] The central control interface is a touch-screen interactive interface on the vehicle's central control screen, providing a visual control panel for receiving user touch operation commands and realizing interactive functions such as mode switching, parameter setting, and system on / off.

[0044] The shortcut button is preferably located on the vehicle's steering wheel for easy one-touch operation by the driver. When triggered by the user, the shortcut button sends an emergency separation control command to the execution layer, causing the system to immediately enter the highest level of separation output for rapid response.

[0045] As can be seen from the above technical solution, this embodiment provides an animal deterrence system applied to vehicles. Specifically, it includes a perception layer, a decision-making layer, an execution layer, and an interaction layer. During vehicle operation, the perception layer continuously collects information such as forward images, distance, vehicle speed, light intensity, and ambient sound. The decision-making layer fuses and judges this information, identifies the animal, calculates the safe distance, and determines the deterrence strategy. The execution layer initiates ultrasonic deterrence or triggers emergency braking according to instructions. The interaction layer simultaneously displays the status to the driver and provides an operation interface. The entire system achieves fully automatic, intelligent, and highly reliable animal deterrence control, effectively improving vehicle driving safety. This allows the vehicle to deter animals from the lane while in motion, solving the problem of animals trespassing into the lane and threatening driving safety.

[0046] Figure 5 This is a flowchart of a drive-off control method according to an embodiment of this application.

[0047] like Figure 5As shown, the animal deterrence control method provided in this embodiment is applied to the above-mentioned animal deterrence system, specifically to the electronic equipment implementing the system. It is suitable for vehicles in scenarios such as highways, suburban roads, and rural roads, to intelligently identify, assess image quality, dynamically use variable frequency ultrasonic waves to deter, and implement graded deterrence and closed-loop feedback of effects for animals such as cats and dogs that have entered the road, in order to avoid collisions between vehicles and animals and improve driving safety. Specifically, it includes the following steps: S1. System activation and working status determination after vehicle power-on.

[0048] After the vehicle completes its power-on initialization, the vehicle's power supply powers the animal deterrence system, and the system enters a low-power standby state. At this time, the decision-making level obtains vehicle status information in real time via the CAN bus, including vehicle speed and gear signals.

[0049] When a vehicle meets the following preset conditions simultaneously, it is determined that the vehicle has entered a normal driving state and the animal deterrent system is activated: the vehicle speed is greater than 5 km / h and the gear is in forward gear.

[0050] After the system is activated, the perception layer, decision-making layer, execution layer, and interaction layer all enter real-time working mode: the forward-looking camera, millimeter-wave radar, light sensor, vehicle speed sensor, and microphone array begin to continuously collect data; the fusion control unit starts real-time calculation; the phased array ultrasonic transmitter array enters standby mode; and the interaction layer enters information refresh mode.

[0051] If the above preset conditions are not met, the system will remain in standby mode and will not perform image analysis, pattern judgment, or drive-off output in order to reduce the energy consumption of the entire vehicle.

[0052] S2. Determine the deportation mode based on the image quality of the forward-facing image.

[0053] Once the system is operational, it continuously performs image quality assessments to determine the most reliable removal mode. The specific process is as follows: First, acquire the frontal view of the vehicle.

[0054] This involves a forward-facing camera based on the perception layer that captures real-time images of the road ahead of the vehicle and outputs RGB format digital image signals. The camera has an 8-megapixel resolution, supports infrared illumination, and can output original images in various environments, including daytime, nighttime, tunnels, and backlighting.

[0055] Then, the image quality index Q is calculated.

[0056] The image quality assessment module in the decision layer processes the image and calculates the image quality index Q, which is calculated as follows: Q = w1×C + w2×B + w3×S, Where C is the image contrast, obtained from the gray-level histogram; B is the image brightness uniformity, reflecting the degree of over-brightness, under-brightness, or backlighting in the image; S is the edge sharpness, calculated by the Laplacian operator, characterizing the recognizability of the target contour; w1, w2, and w3 are three weighting coefficients, typically with values ​​of 0.4, 0.3, and 0.3. The calculation result Q∈[0,1], with higher values ​​indicating a clearer image and higher recognition reliability.

[0057] Finally, based on Q and the threshold Q th The deportation mode is determined, and the deportation modes of this application include targeted mode and hybrid mode.

[0058] The system compares Q with a preset image quality threshold Q. th (Typical value 0.7) for comparison: When Q≥Q th When the image is clear and the target can be reliably identified, the system enters the targeting mode. In this mode, ultrasonic waves of the corresponding sensitive frequency band are emitted according to the animal type to achieve precise repulsion. When Q < Q th When it is determined that the image is blurry, or there is strong / weak light at night, foggy weather, or severe target occlusion, it enters the hybrid mode, using multi-frequency simultaneous transmission + random frequency hopping to achieve full-coverage broadband drive-off and avoid visual omissions that could lead to failure.

[0059] S3. When an animal is detected, calculate the dynamic safety distance based on the animal type.

[0060] When the forward-facing camera and millimeter-wave radar jointly confirm the presence of an animal target ahead, the system immediately performs a safe distance calculation.

[0061] First, the animal type is identified. The animal type identification module uses a deep learning model to classify the target and output the animal category, such as cat, dog, etc.

[0062] Different animals have different reaction times, for example, the reaction time t of a cat. r = 0.3s; dog's reaction time t r = 0.5s.

[0063] Then, the dynamic safe distance is calculated. The safe distance is the minimum distance that ensures the animal can safely escape under the current working conditions, and it is the core judgment threshold for graded deportation. The safe distance calculation module calculates the dynamic safe distance D according to the following formula: D = V×t r + V² / (2×μ×g) + ΔD Where V is the vehicle's current speed (unit: m / s); t rΔD is the animal reaction time, determined by the animal type; μ is the road surface adhesion coefficient, 0.8 for dry roads and 0.4 for wet roads; g is the gravitational acceleration, taken as 9.8 m / s²; ΔD is the fixed safety margin, taken as 5 m.

[0064] S4. Implement multi-level driving strategies based on safe distance and triggering conditions.

[0065] This invention employs a three-tiered driving strategy, with progressively enhanced and layered protection, namely preventative driving, forced driving, and emergency braking.

[0066] 1. Level 1 expulsion: Preventive expulsion strategy.

[0067] Trigger condition: Animal distance ≤ 1.5D; Actions: The phased array ultrasonic transmitter outputs at low power; in targeted mode, it transmits frequencies sensitive to the animal; in hybrid mode, it transmits multiple frequencies simultaneously; and in AR-HUD, it displays a yellow warning marker and the animal's location.

[0068] Objective: To intervene remotely and gently drive away animals to avoid frightening them.

[0069] 2. Secondary eviction: Forced eviction strategy.

[0070] Trigger condition: Animal distance ≤ D. Here, animal distance refers to the actual distance of the vehicle detected.

[0071] Actions performed: Ultrasonic power increased by 50%; beam focused in the direction of the animal; AR-HUD switched to a red high-brightness warning; instrument emitted an audible alert.

[0072] Objective: To force animals to leave the driveway and eliminate the risk of collision.

[0073] 3. Three-level driving: emergency braking strategy.

[0074] Triggering conditions: Animal distance ≤ D / 3, and no escape action is detected.

[0075] Actions performed: Maintaining maximum power ultrasonic drive; sending emergency braking commands to the vehicle's braking system via the AEB interface; and simultaneously sending warnings to following vehicles via V2X.

[0076] Objective: To provide final safety protection in case of repellent failure and to avoid accidents.

[0077] S5. Analyze the animal's vocal characteristics when driving it away and dynamically adjust subsequent strategies.

[0078] Throughout the entire expulsion process, the system continuously collects ambient sound through a microphone array, evaluates the expulsion effect in real time, and adjusts the strategy in a closed-loop manner. The specific process is as follows: 1. Use a microphone array to perform sound acquisition and feature analysis.

[0079] The microphone array consists of three MEMS microphones positioned at the front of the vehicle roof to collect ambient sound. The system performs spectral analysis on the audio signal to extract features such as high-frequency animal screams (typically >2kHz), animal running and jumping sounds, and continuous, unchanging background noise.

[0080] 2. Adjust the strategy based on the analysis results.

[0081] 1) When high-frequency screaming or running features are detected.

[0082] Once the animal is deemed to be effectively driven away and is fleeing, the ultrasonic power is reduced in a preset manner to maintain effectiveness while minimizing energy consumption and interference with the vehicle and surrounding area.

[0083] 2) No obvious sound change within the preset duration (e.g., 10 seconds).

[0084] If the animal is not responding, has not left, or the driving effect is insufficient, the ultrasonic power is increased according to the preset steps; or the frequency combination is switched directly (the frequency hopping sequence is changed in the mixed mode) to strengthen the driving effect until the animal leaves.

[0085] As can be seen from the above technical solution, this embodiment provides a de-encroachment control method. This method is applied to the aforementioned animal de-encroachment system. Specifically, after the vehicle is powered on, when the vehicle's state meets preset conditions, the animal de-encroachment system is controlled to enter the working state; a de-encroachment mode is determined based on the image quality of the image in front of the vehicle; when an animal is detected in front of the vehicle, a safe distance is calculated based on the animal type; a multi-level de-encroachment strategy is executed according to the safe distance and triggering conditions; during the execution of the multi-level de-encroachment strategy, the animal's sound characteristics are analyzed, and subsequent de-encroachment strategies are adopted based on the analysis results. This solution realizes a complete, robust, and all-weather animal de-encroachment control method through system activation condition judgment → image quality evaluation → intelligent selection of de-encroachment mode → dynamic safe distance calculation → three-level graded de-encroachment → sound feedback closed-loop adjustment. This method fully integrates visual quality, road conditions, vehicle speed, animal type, and sound feedback, solving problems such as de-encroachment failure in nighttime / poor visual environments, easy adaptation to single frequencies, lack of effective closed-loop, and lack of graded protection, significantly improving vehicle driving safety.

[0086] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0087] Although the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous.

[0088] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0089] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer.

[0090] Figure 6 This is a block diagram of a drive-off control device according to an embodiment of this application.

[0091] like Figure 6As shown, the animal deterrence control device provided in this embodiment is applied to the above-mentioned animal deterrence system. Specifically, it is applied to the electronic equipment that implements the system. It is suitable for vehicles in scenarios such as highways, suburban roads, and rural roads to intelligently identify, assess image quality, dynamically drive away animals such as cats and dogs that have entered the road, perform graded deterrence, and provide closed-loop feedback on the effect, so as to avoid collisions between vehicles and animals and improve driving safety. Specifically, it includes a system activation module 10, a mode determination module 20, a distance calculation module 30, a deterrence execution module 40, and a feedback operation module 50.

[0092] The system activation module is used to activate the system and determine its working status after the vehicle is powered on.

[0093] After the vehicle completes its power-on initialization, the vehicle power supply powers the animal deterrence system, and the system enters a low-power standby state. At this time, the decision-making layer obtains vehicle status information in real time via the CAN bus, including vehicle speed and gear signals. The specific judgment method has been detailed above and will not be repeated here.

[0094] The mode determination module is used to determine the deportation mode based on the image quality of the foreground image.

[0095] Once the system is operational, it continuously performs image quality assessments to determine the most reliable removal mode. The specific process has been detailed above and will not be repeated here.

[0096] The distance calculation module is used to calculate a dynamic safe distance based on the animal type when an animal is detected.

[0097] When the forward-facing camera and millimeter-wave radar jointly confirm the presence of an animal target ahead, the system immediately performs a safe distance calculation. The specific calculation method has been detailed above and will not be repeated here.

[0098] The deportation execution module is used to execute multi-level deportation strategies based on safe distance and triggering conditions.

[0099] This invention employs a three-tiered driving strategy, with progressively stronger and more protective measures at each level: preventative driving, forced driving, and emergency braking. The specific execution process has been detailed above and will not be repeated here.

[0100] The feedback module is used to analyze the animal's vocal characteristics when driving it away and to dynamically adjust subsequent strategies.

[0101] Throughout the entire process, the system continuously collects ambient sound through a microphone array, evaluates the effectiveness of the expulsion in real time, and adjusts the strategy in a closed-loop manner. The specific process has been described in detail above and will not be repeated here.

[0102] As can be seen from the above technical solution, this embodiment provides a de-encroachment control method. This device is applied to the aforementioned animal de-encroachment system. Specifically, after the vehicle is powered on, when the vehicle's state meets preset conditions, the animal de-encroachment system is controlled to enter a working state. A de-encroachment mode is determined based on the image quality of the image in front of the vehicle. When an animal is detected in front of the vehicle, a safe distance is calculated based on the animal type. A multi-level de-encroachment strategy is executed according to the safe distance and triggering conditions. During the execution of the multi-level de-encroachment strategy, the animal's sound characteristics are analyzed, and subsequent de-encroachment strategies are adopted based on the analysis results. This solution achieves a complete, robust, and all-weather animal de-encroachment control method through system activation condition judgment → image quality assessment → intelligent selection of de-encroachment mode → dynamic safe distance calculation → three-level graded de-encroachment → sound feedback closed-loop adjustment. This method fully integrates visual quality, road conditions, vehicle speed, animal type, and sound feedback, solving problems such as de-encroachment failure in nighttime / poor visual environments, easy adaptation to a single frequency, lack of effective closed-loop, and lack of graded protection, significantly improving vehicle driving safety.

[0103] The units described in the embodiments of this disclosure can be implemented in software or in hardware. The name of a unit does not necessarily limit the unit itself; for example, the first acquisition unit can also be described as "a unit that acquires at least two Internet Protocol addresses".

[0104] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0105] Figure 7 This is a block diagram of an electronic device according to an embodiment of this application.

[0106] The following is for reference. Figure 7 This document illustrates a structural diagram suitable for implementing the electronic device in the embodiments of this disclosure. The terminal device in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. This electronic device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this disclosure.

[0107] The electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from an input device 706 into a random access memory (RAM) 703. The RAM also stores various programs and data required for the operation of the electronic device. The processing unit, ROM, and RAM are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0108] Typically, the following devices can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 707 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 708 including, for example, magnetic tapes, hard disks, etc.; and communication devices 709. Communication device 709 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various devices are shown in the figures, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0109] This application also provides an embodiment of a computer-readable storage medium.

[0110] The aforementioned computer-readable storage medium is applied to an electronic device and carries one or more computer programs. When these programs are executed by the electronic device, the device controls the animal deterrence system to enter a working state after the vehicle is powered on and the vehicle's state meets preset conditions. The deterrence mode is determined based on the image quality of the image in front of the vehicle. When an animal is detected in front of the vehicle, a safe distance is calculated based on the animal type. A multi-level deterrence strategy is executed according to the safe distance and triggering conditions. During the execution of the multi-level deterrence strategy, animal sound characteristics are analyzed, and subsequent deterrence strategies are adopted based on the analysis results. This solution achieves a complete, robust, and all-weather animal deterrence control method through system activation condition judgment → image quality assessment → intelligent selection of deterrence mode → dynamic safe distance calculation → three-level graded deterrence → sound feedback closed-loop adjustment. This method fully integrates visual quality, road conditions, vehicle speed, animal type, and sound feedback, solving problems such as deterrence failure in nighttime / poor visual environments, easy adaptation to single frequencies, lack of effective closed-loop, and lack of graded protection, significantly improving vehicle driving safety.

[0111] It should be noted that the computer-readable medium described above in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0112] In this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0113] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0114] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0115] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device 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 terminal device. 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 terminal device that includes said element.

[0116] The technical solution provided by the present invention has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An animal deterrence system applied to a vehicle, characterized in that, The animal deterrence system comprises a perception layer, a decision-making layer, an execution layer, and an interaction layer, wherein: The perception layer is used to collect various road state parameters of the vehicle and its surrounding environment based on multiple perception periods when the vehicle is driving normally in the lane. The decision layer is used to perform fusion logic processing on the multiple road state parameters, and determine whether to perform animal removal operation based on the road condition recognition result corresponding to the road state parameters. The execution layer is used to execute the animal removal operation by sending ultrasonic waves in the target direction when the decision determines that an animal removal operation needs to be performed. The interaction layer is configured to interact with the user to implement operation commands, and is also configured to display some or all of the information in the road condition recognition results, driving status, and sound wave coverage range.

2. The animal deportation system as described in claim 1, characterized in that, The perception layer includes a forward-facing camera, millimeter-wave radar, light sensor, vehicle speed sensor, and microphone array.

3. The animal deportation system as described in claim 1, characterized in that, The decision-making layer includes a fusion control unit, which comprises an image quality assessment module, a road condition judgment unit, an animal type recognition unit, and a safe distance calculation unit, wherein: The image quality assessment module is used to calculate the sharpness index of the foreground image acquired by the perception layer based on the edge detection algorithm. The road condition judgment module is used to determine the current road condition based on the electronic map and the forward image; The animal type identification unit is used to process the foreground image based on a deep learning model to obtain the animal type; The safe distance calculation module is used to calculate the safe distance based on the vehicle speed, the animal type, and the road surface adhesion coefficient.

4. The animal deterrence system as described in claim 1, characterized in that, The execution layer includes a phased array ultrasonic transmitter array, a display control unit, and an AEB braking interface, wherein: The phased array ultrasonic transmitter array is used to emit ultrasonic waves in a preset direction when the decision to drive away is made; The display control unit is used to control the interaction layer to display part or all of the road condition recognition results, the driving status, and the sound wave coverage range; The AEB braking interface is used to send braking control commands to the vehicle's braking system to cause the braking system to perform emergency braking.

5. The animal deterrence system as described in claim 1, characterized in that, The interaction layer includes an enhanced display module, a central control interface, and shortcut buttons, wherein: The enhanced display module is used to display part or all of the road condition recognition results, the driving status, and the sound wave coverage area; The central control interface is used to implement operation command interaction based on the touch control panel; The shortcut key is used to send an emergency expulsion control command to the execution layer based on the user's operation. The emergency expulsion control command is used to control the execution layer to perform an emergency expulsion.

6. A method for controlling animal expulsion, applied to the animal expulsion system as described in any one of claims 1 to 5, characterized in that, The expulsion control method includes the following steps: After the vehicle is powered on, the animal deterrence system is controlled to enter the working state when the vehicle's state meets preset conditions. The driving mode is determined based on the image quality of the frontal view of the vehicle; When an animal is detected in front of the vehicle, a safe distance is calculated based on the animal type; Execute a multi-level driving strategy based on the aforementioned safe distance and triggering conditions; When implementing the multi-level driving strategy, the animal's vocal characteristics are analyzed, and subsequent driving strategies are adopted based on the analysis results.

7. The drive-away control method as described in claim 6, characterized in that, The method of determining the disengagement mode based on the image quality of the vehicle's forward image includes the following steps: Acquire a forward image of the vehicle; Calculate the image quality index of the foreground image; The removal mode is determined based on the relationship between the graphics quality index and a preset threshold. The removal mode is either a targeted mode or a hybrid mode.

8. The drive-away control method as described in claim 6, characterized in that, The multi-level expulsion strategy includes preventive expulsion strategy, mandatory expulsion strategy, and emergency braking strategy.

9. The drive-away control method as described in claim 6, characterized in that, The process of analyzing animal vocal characteristics during the execution of the multi-level deterrence strategy and implementing subsequent deterrence strategies based on the analysis results includes the following steps: When the animal's vocal characteristics are analyzed and it is determined that a high-frequency screaming feature or an animal running feature is detected, the power required to execute the driving-away strategy is reduced in a preset step. When analysis of the animal's vocal characteristics determines that no change in sound is detected within a preset duration, the power is increased in a preset increment or the sound frequency for executing the driving-away strategy is switched.

10. A deportation control device, applied to the animal deportation system as described in any one of claims 1 to 5, characterized in that, The expulsion control device includes: The system activation module is configured to control the animal deterrence system to enter the working state when the state of the vehicle meets preset conditions after the vehicle is powered on. The mode determination module is configured to determine the drive-off mode based on the image quality of the frontal image of the vehicle; The distance calculation module is configured to calculate a safe distance based on the animal type when an animal is detected in front of the vehicle. The expulsion execution module is configured to execute a multi-level expulsion strategy based on the safe distance and triggering conditions; The feedback operation module is configured to analyze the animal's vocal characteristics when executing the multi-level driving strategy, and to take subsequent driving strategies based on the analysis results.

11. An electronic device, characterized in that, The electronic device includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs or instructions; The processor is used to execute the computer program or instructions to enable the electronic device to implement the drive-away control method as described in any one of claims 6 to 9.

12. A computer-readable storage medium for use in electronic devices, characterized in that, The storage medium carries one or more computer programs that can be executed by the electronic device, thereby enabling the electronic device to implement the drive-off control method as described in any one of claims 6 to 9.

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