Vehicle safety control system and vehicle safety control method

Abstract

The application discloses a vehicle risk avoidance control system and a vehicle risk avoidance control method. The vehicle risk avoidance control method comprises the following steps: acquiring risk perception data of a vehicle; judging whether a preset risk avoidance trigger condition exists according to the risk perception data; sending alarm information to a vehicle owner terminal in the case that the risk avoidance trigger condition exists; receiving a remote control instruction returned by the vehicle owner terminal; and controlling the vehicle to perform a preset risk avoidance operation in response to the remote control instruction. Through local continuous monitoring of a water depth detection radar and a vehicle-mounted camera, combined with prospective input of cloud meteorological and geographical data, early discovery and quick response to risks are realized, and real-time environmental data can include flame and smoke image data and water level data, so that multiple risk conditions such as wading and fire can be avoided.

Description

Technical Field

[0001] This invention relates to the technical field of vehicle hazard avoidance, specifically to a vehicle hazard avoidance control system and a vehicle hazard avoidance control method. Background Technology

[0002] As the automotive industry moves towards electrification, connectivity, and intelligence, active safety technologies have become a focal point of competition. In extreme weather or scenarios, such as urban flooding or fires caused by torrential rain, vehicle owners who fail to detect potential hazards in time or lack the ability to move their vehicles could suffer significant property damage. Existing solutions often focus on only a single risk or rely on delayed cloud-based alerts, leading to false alarms and missed warnings. Summary of the Invention

[0003] This invention aims to at least address the problems in existing technologies that focus only on a single risk or rely on delayed cloud-based early warnings, leading to false alarms and missed alarms. To this end, this invention provides a vehicle risk avoidance control system and a vehicle risk avoidance control method.

[0004] A vehicle hazard avoidance control method according to a first aspect of an embodiment of the present invention includes the following steps: Acquiring risk perception data for vehicles includes: collecting water level data around the vehicle via a water depth radar; and / or, collecting image data around the vehicle via an onboard camera, and performing flame and smoke recognition processing on the image data; and acquiring weather warning data and / or geographical environment data from a cloud server via the Internet of Vehicles. Based on the risk perception data, determine whether the vehicle has preset risk avoidance trigger conditions; If the aforementioned risk avoidance triggering conditions are met, an alarm message will be sent to the vehicle owner's terminal; Receive remote control commands returned by the vehicle owner's terminal; In response to the remote control command, the vehicle is controlled to perform a preset hazard avoidance maneuver.

[0005] A vehicle hazard avoidance control method according to an embodiment of the present invention has at least the following beneficial effects: This application achieves early detection and rapid response to risks by using water depth radar and vehicle-mounted cameras for continuous local monitoring, combined with proactive input of cloud-based meteorological and geographic data. Real-time environmental data can include flame and smoke image data and water level data, enabling avoidance of multiple risk situations such as water wading and fire.

[0006] According to some embodiments of the present invention, controlling the vehicle to perform a preset hazard avoidance operation in response to the remote control command includes: During the risk avoidance operation, the communication link status between the vehicle and the owner's terminal is continuously monitored; When the communication link is interrupted and the current risk level reaches the preset autonomous risk avoidance threshold, the vehicle's autonomous authority enhancement mechanism is triggered. The autonomous authority enhancement mechanism includes: the vehicle planning its own driving path, controlling the vehicle to perform hazard avoidance operations, and uploading the hazard avoidance record to the vehicle owner's terminal after the communication link is restored.

[0007] According to some embodiments of the present invention, determining whether a vehicle has a preset risk avoidance trigger condition based on the risk perception data includes: Based on the risk perception data, the type of risk faced by the vehicle and the corresponding risk level are determined; The risk level is compared with a preset risk threshold. If the risk level reaches or exceeds the risk threshold, it is determined that there is a risk avoidance trigger condition.

[0008] According to some embodiments of the present invention, determining the type of risk faced by the vehicle and the corresponding risk level based on the risk perception data includes: Confidence-weighted fusion processing is performed on risk perception data from multiple sources to obtain the fused risk index; Based on the fused risk indicators, the corresponding risk level is determined.

[0009] According to some embodiments of the present invention, comparing the risk level with a preset risk threshold includes: At least two risk thresholds are preset, including a first threshold and a second threshold that is higher than the first threshold; When the risk level reaches the first threshold but does not reach the second threshold, it is determined to be a first-level risk avoidance trigger condition; When the risk level reaches the second threshold, it is determined to be a second-level risk avoidance trigger condition.

[0010] According to some embodiments of the present invention, sending alarm information to the vehicle owner's terminal includes: When the conditions for triggering Level 1 emergency avoidance are determined, a notification-type alarm message is pushed to the vehicle owner's terminal. When the conditions for triggering a Level 2 hazard avoidance are met, a strong alert is pushed to the vehicle owner's terminal. The strong alert includes the risk type, real-time environmental images, and an operable hazard avoidance suggestion button.

[0011] According to some embodiments of the present invention, after receiving the remote control command returned by the vehicle owner terminal, the method further includes: Obtain the target location set by the vehicle owner through the human-computer interaction interface; Plan an autonomous driving route based on the target location.

[0012] According to some embodiments of the present invention, controlling the vehicle to perform a preset hazard avoidance operation includes at least one of the following: Control the vehicle's air springs to perform the lifting operation; Control the vehicle's engine or motor to perform the starting operation; Control the vehicle's autonomous driving system to perform the departure operation; Control the water-buoyancy airbags at the bottom of the vehicle to detonate.

[0013] According to some embodiments of the present invention, after the autonomous driving system controlling the vehicle performs the departure operation, it further includes: Once the vehicle reaches the target location, it performs perception processing on the surrounding environment to obtain environmental perception results. Based on the environmental perception results, select one of the various preset docking modes to execute; The various preset parking modes include: controlling the vehicle to perform a stationary parking and locking operation, or controlling the vehicle to perform a low-speed cruise parking operation.

[0014] According to a second aspect of the present invention, a vehicle avoidance control system includes a perception structure, a decision-making structure, and an execution structure. The perception structure includes an onboard water depth radar, an onboard fire monitoring module, and a vehicle network communication module. The onboard water depth radar is used to collect water level data around the vehicle in real time. The onboard fire monitoring module is used to collect image data of flames and smoke around the vehicle. The vehicle network communication module is used to receive meteorological warning data and vehicle geographical location data from a cloud server. The perception structure is used to acquire multi-source perception data, including water level data, flame and smoke image data, meteorological warning data, and vehicle geographical location data. The decision structure, connected to the perception structure, is used to perform comprehensive risk assessment based on the received multi-source perception data, generate corresponding risk levels, and generate rich media alarm information containing risk type, key data, environmental images or videos, and suggested operation options based on the risk levels, and send it to the vehicle owner terminal through the vehicle network communication module. The execution structure is connected to the decision structure and integrated into the vehicle's driving system. After receiving a remote risk avoidance command from the vehicle owner's terminal, it controls the vehicle to drive automatically to a preset safe destination and selects a parking mode based on the environmental perception results of the perception structure.

[0015] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a flowchart of a vehicle risk avoidance control method. Detailed Implementation

[0017] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0018] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0019] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0020] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0021] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0022] A vehicle risk avoidance control system includes a perception structure, a decision-making structure, and an execution structure. The perception structure includes an onboard water depth detection radar, an onboard fire monitoring module, and a vehicle-to-everything (V2X) communication module.

[0023] Vehicle-mounted water depth radar is used to collect water level data around the vehicle in real time. The water depth radar is installed under the vehicle chassis or under the exterior rearview mirror. It adopts the ultrasonic principle to actively and in real time detect the water level around the vehicle with an accuracy of ±5cm. It has extremely low power consumption and can achieve continuous monitoring around the clock.

[0024] The vehicle-mounted fire monitoring module is used to collect image data of flames and smoke around the vehicle. The module includes at least one vehicle-mounted camera, which is positioned on the top of the vehicle or around its perimeter to provide 360-degree field-of-view image data of flames and smoke. In practice, a pre-trained flame and smoke recognition model can be used to extract and analyze the color, shape, texture, and dynamic features of the flame and smoke image data to assess risk.

[0025] The vehicle-to-everything (V2X) communication module receives weather warning data and vehicle location data from a cloud server. The perception structure acquires multi-source perception data, including water level data, flame and smoke image data, weather warning data, and vehicle location data. The weather warning data includes red and orange rainstorm warnings, which are used to pre-determine the risk of flooding. The decision-making structure is connected to the perception structure. Based on received multi-source perception data, the decision-making structure performs comprehensive risk assessment, generates corresponding risk levels, and then generates rich media alerts containing risk type, key data, environmental images or videos, and suggested action options. These alerts are sent to the vehicle owner's terminal via the vehicle-to-everything (V2X) communication module. The alerts include the risk type (e.g., flooding, fire) and current key data (e.g., water depth, temperature), as well as clearly stated suggested action buttons such as viewing real-time video or immediately driving away to avoid the danger. This design ensures maximum information delivery and assists the user in making decisions.

[0026] The execution structure is connected to the decision-making structure and integrated into the vehicle's driving system. After receiving remote avoidance commands from the vehicle owner's terminal, it controls the vehicle to drive autonomously to a preset safe destination and selects a parking mode based on the environmental perception results of the perception structure.

[0027] Specifically, when flooding occurs, the vehicle's onboard water depth radar measures the water depth. The decision-making system then performs a comprehensive risk assessment based on received multi-source perception data, generating a corresponding risk level and sending it to the vehicle owner's terminal, such as a mobile phone. The user operates the app, viewing the vehicle's surroundings via video and selecting or entering a safe destination on the map, such as a surface parking lot or the entrance to a residential area. The user clicks the "Activate Intelligent Risk Avoidance" button, and the vehicle begins autonomous driving to the preset safe destination. During autonomous driving, real-time data streams, including the vehicle's GPS location, speed, remaining distance, and forward video streams from the onboard camera, are continuously and with low latency transmitted back to the owner's app via the vehicle-to-everything (V2X) network. This ensures transparency in the risk avoidance process. Upon arrival at the destination, the vehicle intelligently selects a parking mode based on preset strategies and the real-time environment: if temporary parking is permitted, the vehicle shuts off, locks the doors, and waits for the owner. If long-term parking is not possible at the destination, the vehicle automatically cruises at low speed in the vicinity, using the automatic parking function to find and park in an available parking space.

[0028] Through continuous local monitoring by water depth radar and vehicle-mounted cameras, combined with proactive input of cloud-based meteorological and geographic data, early detection and rapid response to risks can be achieved. Real-time environmental data can include flame and smoke images and water level data, enabling avoidance of multiple risk situations such as water wading and fire. Secondly, the risk level can be determined based on the high-risk site conditions and transmitted to the user, allowing the user to make timely judgments and control the vehicle to avoid danger. In addition, after avoiding danger, the vehicle has multiple parking modes to ensure that the vehicle is parked in a position without secondary damage.

[0029] According to some embodiments of the present invention, the decision structure is configured with a hierarchical early warning strategy, including: Level 1 risk corresponds to wading depth below the first threshold and no high-risk weather warning, with only local records being made. Level 2 risk corresponds to a wading depth between the first and second thresholds, or the presence of general weather warnings, and a notification will be pushed to the vehicle owner's terminal; Level 3 risk corresponds to a wading depth exceeding the second threshold, or receiving a red / orange rainstorm warning and the vehicle being located in a high-risk area. This triggers both app push notifications and SMS alerts, and automatically generates suggested evacuation instructions. When the vehicle encounters danger, the alert is strong, allowing the user to take timely action to avoid danger.

[0030] Reference Figure 1 A vehicle hazard avoidance control method includes the following steps: Step S100: Obtain vehicle risk perception data, including: collecting water level data around the vehicle through a water depth radar; and / or, collecting image data around the vehicle through an onboard camera, and performing flame and smoke recognition processing on the image data; and obtaining weather warning data and / or geographical environment data from a cloud server through the vehicle network. Step S200: Based on the risk perception data, determine whether the vehicle has preset avoidance trigger conditions; Step S300: If the avoidance trigger condition exists, send an alarm message to the vehicle owner's terminal; Step S400: Receive remote control commands returned by the vehicle owner's terminal; Step S500: In response to the remote control command, control the vehicle to perform a preset avoidance operation.

[0031] The vehicle is parked in a parking lot with the engine off. The vehicle receives a real-time red rainstorm warning from the meteorological bureau, while its ultrasonic radar scans the water level at a 1Hz frequency. When the radar detects water depth reaching 15cm for two minutes, and cloud data indicates the vehicle is located in a low-lying area, the vehicle's decision-making layer classifies the risk level as high. The vehicle's system pushes an alert to the owner's mobile app via 4G, indicating the risk of flooding and the current water depth of 15cm. After viewing the real-time footage from the surrounding cameras on the app and confirming the rising water level, the owner clicks the "Leave Now" button on the app. Upon receiving the command, the vehicle activates its autonomous driving system, navigates to a nearby higher-lying parking lot, and drives automatically. Upon arrival at the target parking lot, the surround-view cameras identify an available space, the vehicle automatically parks, turns off the engine, locks, and sends its final location to the owner's app. Similarly, when dense smoke or fire is detected, the vehicle's system can also send an alert. For example, in real life, if a fire breaks out around a parking lot due to a battery malfunction, the vehicle will automatically leave the scene to minimize the impact on the vehicle.

[0032] This application achieves early detection and rapid response to risks by using water depth radar and vehicle-mounted cameras for continuous local monitoring, combined with proactive input of cloud-based meteorological and geographic data. Real-time environmental data can include flame and smoke image data and water level data, enabling avoidance of multiple risk situations such as water wading and fire.

[0033] According to some embodiments of the present invention, step S500 includes: During the risk avoidance operation, the communication link status between the vehicle and the owner's terminal is continuously monitored; When a communication link interruption is detected and the current risk level reaches the preset autonomous risk avoidance threshold, the vehicle's autonomous authority enhancement mechanism is triggered. The autonomous authority enhancement mechanism includes: allowing the vehicle to plan its own driving route, control the vehicle to perform hazard avoidance operations, and upload hazard avoidance records to the owner's terminal after the communication link is restored.

[0034] Specifically, the vehicle detected a rapid rise in water level to 30cm in the underground parking garage, triggering an emergency risk and sending an alert to the owner's app. However, due to the vehicle's location deep within the garage and weak 4G signal, the owner did not receive the message. The water level continued to rise to 35cm, exceeding the preset "autonomous risk avoidance threshold." The system then determined that it had entered an enhanced autonomous control state: the vehicle started automatically, planned its way to the nearest exit ramp based on the pre-loaded garage map, and automatically drove out of the garage to a safe area on the ground. Once the vehicle had exited the garage and communication was restored, the app immediately received a push notification indicating that the vehicle had autonomously avoided a risk due to communication interruption and its current location.

[0035] In the event of heavy rain or fire, communication facilities may be damaged, and in areas with signal blind spots such as underground parking garages or remote mountainous regions, vehicles may not be able to receive the user's evasive commands. Therefore, in such situations, the vehicle's autonomy escalation mechanism is triggered, allowing the vehicle to automatically plan its driving path, perform evasive maneuvers, and upload the evasive record to the owner's terminal after the communication link is restored.

[0036] According to some embodiments of the present invention, step S200 includes: Based on risk perception data, determine the types of risks faced by the vehicle and the corresponding risk levels; The risk level is compared with a preset risk threshold. If the risk level reaches or exceeds the risk threshold, it is determined that there is a risk avoidance trigger condition.

[0037] According to some embodiments of the present invention, determining the type of risk faced by a vehicle and the corresponding risk level based on risk perception data includes: Confidence-weighted fusion processing is performed on risk perception data from multiple sources to obtain the fused risk index; Based on the integrated risk indicators, the corresponding risk level is determined.

[0038] According to some embodiments of the present invention, comparing a risk level with a preset risk threshold includes: Preset at least two risk threshold levels, including a first threshold and a second threshold that is higher than the first threshold; When the risk level reaches the first threshold but not the second threshold, it is determined to be a first-level risk aversion trigger condition; When the risk level reaches the second threshold, it is determined to be a second-level risk aversion trigger condition.

[0039] According to some embodiments of the present invention, sending alarm information to the vehicle owner's terminal includes: When the conditions for triggering Level 1 emergency avoidance are determined, a notification-type alarm message is pushed to the vehicle owner's terminal. When the conditions for triggering a Level 2 hazard avoidance are met, a strong alert message is pushed to the vehicle owner's terminal. The strong alert message includes the risk type, real-time environmental images, and an operable hazard avoidance suggestion button.

[0040] By using tiered push notifications, users are only notified during low-risk situations, avoiding frequent interruptions that could desensitize them to alerts. During high-risk situations, strong alerts with images are used to quickly capture users' attention and provide the key information needed for decision-making, thus shortening the user's confirmation time.

[0041] According to some embodiments of the present invention, after step S500, the method further includes: Obtain the target location set by the vehicle owner through the human-computer interaction interface; Plan autonomous driving routes based on target locations.

[0042] Specifically, after receiving the flood warning, the car owner manually selected a high point near the north gate of the residential area as their destination via the app's map interface. Upon receiving the instruction, the vehicle, using a real-time flood map, planned a route bypassing the two known flooded areas and automatically followed that route. This method, by combining real-time risk data and map information, ensures that the driving route avoids deeper flooded areas.

[0043] According to some embodiments of the present invention, step S500 includes at least one of the following: When the vehicle is submerged in water 20cm deep, the system receives the drive-away command and first controls the air springs to inflate to their highest position, raising the ground clearance from 15cm to 25cm before initiating autonomous driving to drive away. Raising the air springs immediately increases the ground clearance, protecting the chassis battery and motor during the drive-away process.

[0044] Control the vehicle's engine or motor to perform the starting operation.

[0045] The vehicle was submerged in 60cm of water, exceeding its maximum wading depth. Upon receiving the user's command to deploy the airbags, the system immediately deployed the folding airbags installed in the underbody protection plate. The inflated airbags lifted the vehicle to the surface, preventing water damage to electronic components. Deploying the floating airbags is a last resort when the water level is extremely high and the vehicle cannot be driven away, providing buoyancy to prevent it from sinking and minimizing property damage.

[0046] According to some embodiments of the present invention, after the autonomous driving system controlling the vehicle performs the departure operation, it further includes: Once the vehicle reaches the target location, it performs perception processing on the surrounding environment to obtain environmental perception results. Based on the results of environmental perception, select one of several preset docking modes to execute; Multiple preset parking modes include: controlling the vehicle to perform a stationary parking and locking operation, or controlling the vehicle to perform a low-speed cruise parking operation.

[0047] Specifically, the vehicle autonomously navigates to the user-preset entrance to the community's surface parking lot. Surround-view cameras and GPS detect that the parking lot entrance is blocked by stone blocks, and there are no-parking signs along the entire roadside. The decision-making system determines that the location conditions set by the driver are not met. Subsequently, the vehicle enters low-speed cruise mode, driving along the surrounding streets and using ultrasonic radar to scan for available parking spaces on the roadside. After driving 200 meters, it identifies an available parking space, automatically parks itself, and records the parking space number, sending it to the driver. When parking is inconvenient at the destination, a parking space search mode is activated, increasing the probability of successful obstacle avoidance and the final parking safety.

[0048] According to some embodiments of the present invention, before receiving a remote evacuation command returned by the vehicle owner's terminal and confirmed by the user, the system further includes: sending real-time environmental images captured by the vehicle-mounted camera to the vehicle owner's terminal for the user to remotely observe and confirm the risk situation. After the system triggers a fire alarm, it immediately streams the real-time image captured by the roof-mounted camera to the vehicle owner's mobile app. The vehicle owner opens the app and sees smoke coming from a nearby vehicle, not from their own vehicle catching fire. Based on this, the vehicle owner judges that there is no immediate danger to their vehicle, but it is necessary to notify the property management. Therefore, the vehicle owner does not choose to drive away immediately, but instead chooses to notify the property management. After receiving a non-evacuation command, the system continuously monitors and records video to provide evidence for subsequent handling. Allowing users to see the situation around their vehicle firsthand builds trust and avoids users losing confidence in the system due to false alarms. Furthermore, allowing users to make judgments based on real-time images rather than abstract data effectively eliminates non-real risks such as sensors being blocked by plastic bags or someone burning garbage nearby, making the issuance of remote commands more cautious.

[0049] This invention also provides a vehicle, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements a vehicle risk avoidance control method.

[0050] The processor can be implemented using a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0051] The memory can be implemented in the form of read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory and is called and executed by the processor.

[0052] The vehicle also includes the aforementioned vehicle safety control system. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0053] According to an embodiment of the present invention, a computer-readable storage medium is stored thereon, which, when executed by a processor, implements the above-described vehicle avoidance control method.

[0054] The computer-readable storage medium of this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: 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. In this invention, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0055] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0056] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0057] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0058] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0059] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A vehicle hazard avoidance control method, characterized in that, Includes the following steps: Acquiring risk perception data for vehicles includes: collecting water level data around the vehicle via a water depth radar; and / or, collecting image data around the vehicle via an onboard camera, and performing flame and smoke recognition processing on the image data; and acquiring weather warning data and / or geographical environment data from a cloud server via the Internet of Vehicles. Based on the risk perception data, determine whether the vehicle has preset risk avoidance trigger conditions; If the aforementioned risk avoidance triggering conditions are met, an alarm message will be sent to the vehicle owner's terminal; Receive remote control commands returned by the vehicle owner's terminal; In response to the remote control command, the vehicle is controlled to perform a preset hazard avoidance maneuver.

2. The vehicle hazard avoidance control method according to claim 1, characterized in that, The response to the remote control command, controlling the vehicle to perform preset hazard avoidance operations, includes: During the risk avoidance operation, the communication link status between the vehicle and the owner's terminal is continuously monitored; When the communication link is interrupted and the current risk level reaches the preset autonomous risk avoidance threshold, the vehicle's autonomous authority enhancement mechanism is triggered. The autonomous authority enhancement mechanism includes: the vehicle planning its own driving path, controlling the vehicle to perform hazard avoidance operations, and uploading the hazard avoidance record to the vehicle owner's terminal after the communication link is restored.

3. The vehicle hazard avoidance control method according to claim 1, characterized in that, The step of determining whether the vehicle has preset avoidance trigger conditions based on the risk perception data includes: Based on the risk perception data, the type of risk faced by the vehicle and the corresponding risk level are determined; The risk level is compared with a preset risk threshold. If the risk level reaches or exceeds the risk threshold, it is determined that there is a risk avoidance trigger condition.

4. The vehicle hazard avoidance control method according to claim 3, characterized in that, The step of determining the type of risk faced by the vehicle and the corresponding risk level based on the risk perception data includes: Confidence-weighted fusion processing is performed on risk perception data from multiple sources to obtain the fused risk index; Based on the fused risk indicators, the corresponding risk level is determined.

5. The vehicle hazard avoidance control method according to claim 3, characterized in that, The step of comparing the risk level with a preset risk threshold includes: At least two risk thresholds are preset, including a first threshold and a second threshold that is higher than the first threshold; When the risk level reaches the first threshold but does not reach the second threshold, it is determined to be a first-level risk avoidance trigger condition; When the risk level reaches the second threshold, it is determined to be a second-level risk avoidance trigger condition.

6. The vehicle hazard avoidance control method according to claim 5, characterized in that, Sending alarm information to the vehicle owner's terminal includes: When the conditions for triggering Level 1 emergency avoidance are determined, a notification-type alarm message is pushed to the vehicle owner's terminal. When the conditions for triggering a Level 2 hazard avoidance are met, a strong alert is pushed to the vehicle owner's terminal. The strong alert includes the risk type, real-time environmental images, and an operable hazard avoidance suggestion button.

7. The vehicle hazard avoidance control method according to claim 1, characterized in that, After receiving the remote control command returned by the vehicle owner's terminal, the process also includes: Obtain the target location set by the vehicle owner through the human-computer interaction interface; Plan an autonomous driving route based on the target location.

8. The vehicle hazard avoidance control method according to claim 1, characterized in that, The control of the vehicle to perform preset avoidance operations includes at least one of the following: Control the vehicle's air springs to perform the lifting operation; Control the vehicle's engine or motor to perform the starting operation; Control the vehicle's autonomous driving system to perform the departure operation; Control the water-buoyancy airbags at the bottom of the vehicle to detonate.

9. The vehicle hazard avoidance control method according to claim 8, characterized in that, After the autonomous driving system controlling the vehicle executes the departure operation, it also includes: Once the vehicle reaches the target location, it performs perception processing on the surrounding environment to obtain environmental perception results. Based on the environmental perception results, select one of the various preset docking modes to execute; The various preset parking modes include: controlling the vehicle to perform a stationary parking and locking operation, or controlling the vehicle to perform a low-speed cruise parking operation.

10. A vehicle risk avoidance control system, characterized in that, include: The sensing structure includes an onboard water depth radar, an onboard fire monitoring module, and a vehicle-to-everything (V2X) communication module. The onboard water depth radar is used to collect real-time water level data around the vehicle. The onboard fire monitoring module is used to collect image data of flames and smoke around the vehicle. The V2X communication module is used to receive weather warning data and vehicle location data from a cloud server. The sensing structure is used to acquire multi-source sensing data, which includes water level data, flame and smoke image data, weather warning data, and vehicle location data. The decision structure, connected to the perception structure, is used to perform comprehensive risk assessment based on the received multi-source perception data, generate corresponding risk levels, and generate rich media alarm information containing risk type, key data, environmental images or videos, and suggested operation options based on the risk levels, and send it to the vehicle owner terminal through the vehicle network communication module. The execution structure is connected to the decision structure and integrated into the vehicle's driving system. After receiving a remote risk avoidance command from the vehicle owner's terminal, it controls the vehicle to drive automatically to a preset safe destination and selects a parking mode based on the environmental perception results of the perception structure.

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