Control method and apparatus, and intelligent driving device

Abstract

A control method and apparatus, and an intelligent driving device. The method comprises: acquiring the type and position of a first obstacle, which type indicates whether the first obstacle is a low obstacle or a negative obstacle, wherein the low obstacle is an obstacle, the highest point of which is above the plane where a vehicle is located and is below the plane where a chassis of the vehicle is located, and the negative obstacle is an obstacle, the highest point of which is below the plane where the vehicle is located; and on the basis of the type and position of the first obstacle, executing at least one of the following: controlling the speed of the vehicle, and controlling the pose of the vehicle. The method in the present application can be applied to intelligent vehicles such as electric vehicles and new energy vehicles, and during the travelling or parking of a vehicle, the pose and / or speed of the vehicle can be controlled on the basis of the position of a negative obstacle or low obstacle, thereby preventing the vehicle from falling into the negative obstacle or colliding with the low obstacle, thereby facilitating the improvement in the safety of the vehicle and guaranteeing the personal and property safety of a user.

Description

Control method, device and intelligent driving equipment

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on July 28, 2023, with application number 202310954423.6 and invention name “Control Method, Device and Intelligent Driving Equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent driving, and more specifically, to a control method, device and intelligent driving equipment. Background Art

[0003] With the rapid development of the automotive industry, a wide range of assisted driving and autonomous driving technologies have emerged, which can reduce driving stress and improve safety and traffic efficiency. Automatic parking (AP) is a widely used assisted driving technology. AP refers to the automatic parking of a vehicle, meaning that the autonomous driving system can semi-automatically or fully automatically help the user park the vehicle into a parking space. Automatic parking can include automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP).

[0004] However, current automatic parking systems can generally only identify obstacles located at or above the vehicle's level. Therefore, if a roadside ditch is encountered during parking, the system cannot identify the ditch, causing the vehicle to be scratched or fall.

[0005] In view of this, a control scheme that can improve vehicle safety is in urgent need of development.

[0006] Summary of the Invention

[0007] The present application provides a control method, apparatus, and intelligent driving device. During the driving or parking process of an intelligent driving device such as a vehicle, the vehicle's posture and / or speed can be controlled according to the position of a negative obstacle or a low obstacle to prevent it from falling into a negative obstacle or colliding with a low obstacle, thereby helping to improve the safety of the vehicle and protect the personal and property safety of users.

[0008] In a first aspect, a control method is provided, which can be executed by a vehicle; or, it can also be executed by a computing platform of the vehicle; or, it can also be executed by a chip or circuit used for the vehicle, which is not limited in this application.

[0009] The method includes: obtaining the type and position of a first obstacle, where the type indicates that the first obstacle is a low obstacle or a negative obstacle, wherein a low obstacle is an obstacle whose highest point is higher than the plane on which the vehicle is located and lower than the plane on which the chassis of the vehicle is located, and a negative obstacle is an obstacle whose highest point is lower than the plane on which the vehicle is located; and performing at least one of the following according to the type and position of the first obstacle: controlling the speed of the vehicle, and controlling the posture of the vehicle.

[0010] In this technical solution, the position and / or speed of the intelligent driving device can be controlled based on the location of negative or low obstacles. This prevents collisions between the vehicle and low obstacles when there are low obstacles around the vehicle. It also prevents the vehicle from falling into negative obstacles, which could cause scratches or even injuries. This helps improve vehicle safety and protects the personal and property safety of users.

[0011] In combination with the first aspect, in certain implementations of the first aspect, controlling the posture of the vehicle includes: controlling the distance between the outer contour of a first wheel of the vehicle and a first obstacle to be greater than or equal to a first distance threshold, the first wheel being the wheel of the vehicle that is closest to the first obstacle.

[0012] In one example, the first obstacle is located on the side of the vehicle, or the first obstacle is located in an area adjacent to a longer boundary of the target parking area, and the outer profile of the first wheel is the outermost side of the first wheel in the axial direction.

[0013] In another example, the first obstacle is located in front of or behind the vehicle, or the first obstacle is located in an area adjacent to a shorter boundary of the target parking area, and the outer profile of the first wheel is the outermost side of the first wheel in the circumference and away from the center of the vehicle.

[0014] Exemplarily, the first distance threshold may be 30 centimeters, or 20 centimeters, or the first distance threshold may also be other values.

[0015] In the above technical solution, the position and / or speed of the vehicle is controlled according to the distance between the outer contour of the wheel and the first obstacle or the negative obstacle, which can ensure that the vehicle does not collide with a low obstacle or fall into the negative obstacle. At the same time, it can also give the vehicle a larger range of movement, providing more space for the driver to control the vehicle when the vehicle is in a human-driven state; when the vehicle is in an automatic driving state, it reduces the computational complexity when planning the driving path for the vehicle.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: obtaining the position of a second obstacle, the second obstacle being a high obstacle and being located in the same area as the first obstacle, the high obstacle being an obstacle whose highest point is higher than or equal to the plane of the vehicle's chassis; controlling the distance between the outer contour of the first wheel of the vehicle and the first obstacle to be greater than or equal to a first distance threshold, including: controlling the distance between the outer contour of the first wheel of the vehicle and the first obstacle to be greater than or equal to the first distance threshold, and controlling the distance between a first part of the outer contour of the vehicle and the second obstacle to be greater than or equal to a second distance threshold, the first part being the part of the outer contour closest to the second obstacle.

[0017] For example, the lowest point of the high obstacle is lower than the roof of the vehicle, or the lowest point of the high obstacle is lower than the lowest point of the front hood of the vehicle. For example, in some vehicles, the front hood is a hood of the engine compartment; in some vehicles, the front hood is a trunk lid or an engine hood.

[0018] Exemplarily, the second distance threshold may be 30 centimeters, or 20 centimeters, or other values.

[0019] In the above technical solution, when there are both high obstacles and negative obstacles (or low obstacles) in the area that the vehicle gradually approaches while driving or in the area adjacent to the target parking area, controlling the two obstacles to maintain a preset distance from different parts of the vehicle (such as the body and wheels) respectively helps to further improve the safety of the vehicle.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the first obstacle is located on a first side of the target parking area, and controlling the vehicle's posture includes: when controlling the vehicle to park in the target parking area, the distance between a second portion of the vehicle's outer contour and a boundary of the second side of the target parking area is greater than or equal to a third distance threshold, the second side being the side opposite to the first side, and the second portion being the side opposite to the side where the first wheel is located.

[0021] For example, if the first side of the target parking area is a side that constitutes a longer side of the target parking area, then the second side of the target parking area is a side that constitutes the other longer side of the target parking area. Alternatively, if the first side of the target parking area is a side that constitutes a shorter side of the target parking area, then the second side of the target parking area is a side that constitutes the other shorter side of the target parking area. The first wheel is adjacent to the first side, and the second portion of the vehicle's outer contour is adjacent to the second side.

[0022] For example, the boundary of the second side of the target parking area may be a parking space line.

[0023] Exemplarily, the third distance threshold may be 5 centimeters, or 3 centimeters, or other values.

[0024] In the above technical solution, during the parking process, in addition to controlling the distance between the vehicle and the first obstacle to maintain a safe distance, it is also necessary to control the vehicle to park in the target parking area. That is, the distance between the vehicle and the boundary of the target parking area must be at least greater than or equal to a third preset distance. This can reduce the probability of the vehicle being scratched by vehicles parked in or passing through an area adjacent to the target parking area, and also facilitate the driving or parking of other vehicles.

[0025] In combination with the first aspect, in certain implementations of the first aspect, the first obstacle is a negative obstacle, and at least one of the following is performed: controlling the speed of the vehicle, controlling the posture of the vehicle, including: when the first obstacle is located in the direction of vehicle travel and the length of the first obstacle along the direction of vehicle travel is greater than or equal to a first preset threshold, or when the first obstacle is located on the side of the vehicle and the length of the first obstacle perpendicular to the direction of vehicle travel is greater than or equal to a second preset threshold, according to the position of the first obstacle, performing at least one of the following: controlling the speed of the vehicle, controlling the posture of the vehicle.

[0026] For example, the first preset threshold value may be 20 centimeters, or may be other values. For example, the first preset threshold value may be determined based on the height of the wheel and the chassis height of the vehicle.

[0027] For example, the second preset threshold may be the width of the wheel, or may be another value smaller than the wheel width.

[0028] In the above technical solution, if the width (or length) of a negative obstacle is greater than or equal to a preset threshold, posing a risk of the wheel or vehicle falling into the negative obstacle, the vehicle's position and / or speed are controlled based on the location of the negative obstacle to ensure vehicle safety. If the width (or length) of the negative obstacle is equal to the preset threshold, the wheel will not fall into the negative obstacle, or if it does, it will not cause damage to the vehicle chassis. Therefore, the negative obstacle can be ignored, helping to reduce the computational complexity and energy consumption of vehicle path planning.

[0029] In combination with the first aspect, in certain implementations of the first aspect, controlling the speed of the vehicle includes: when the distance between the first obstacle and the outer contour of the second wheel of the vehicle is greater than a fourth distance threshold, controlling the vehicle to travel at a first acceleration so that when the distance between the first obstacle and the outer contour of the second wheel is less than or equal to the fourth distance threshold, the speed of the vehicle is less than or equal to the first speed threshold, and the second wheel is the wheel of the vehicle that is closest to the first obstacle.

[0030] Exemplarily, the fourth distance threshold can be 1.5 meters, or 1.2 meters, or other values; the first acceleration can be determined based on the real-time speed of the vehicle, and the first acceleration is a negative value; the first speed threshold can be 0.2 meters per second, or other values.

[0031] Exemplarily, the second wheel and the first wheel may be the same wheel.

[0032] In the above technical solution, when the first obstacle is detected, the vehicle is controlled to decelerate in advance so that the vehicle can stop in time at a deceleration rate that is more comfortable for the driver and passengers when approaching the first obstacle, thereby improving the driving experience and safety of the driver and passengers.

[0033] In combination with the first aspect, in some implementations of the first aspect, the method further includes: when the first obstacle is a low obstacle, controlling the sound-emitting device to play a first sound effect; when the first obstacle is a negative obstacle, controlling the sound-emitting device to play a second sound effect.

[0034] Exemplarily, when a high obstacle is detected, the first sound effect is also played, or the third sound effect is played.

[0035] In the above technical solution, different types of obstacles are prompted by different sound effects, which helps the driver to determine the type of obstacles around the vehicle, and then perform different vehicle control operations according to different types of obstacles in the human driving state.

[0036] In combination with the first aspect, in certain implementations of the first aspect, the first obstacle is a negative obstacle, and the method further includes at least one of the following: controlling the prompt device to prompt the distance between the vehicle and the first obstacle; controlling the prompt device to prompt the location of the first obstacle; or controlling the prompt device to indicate that there is a risk of falling of the vehicle.

[0037] In the above technical solution, when a negative obstacle is detected, information related to the negative obstacle is prompted, which helps to promptly remind the driver of the existence of the negative obstacle and related information, thereby serving the purpose of warning the driver.

[0038] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: generating a virtual icon based on the height information of the first obstacle, the virtual icon indicating that the position of the first obstacle corresponds to the position of the plane on which the vehicle is located and the height of the first obstacle; and controlling the prompt device to display the virtual icon.

[0039] It should be noted that when the first obstacle is a negative obstacle, its height can be understood as the depth of the first obstacle.

[0040] For example, when the height of the first obstacle can be detected, a virtual icon is generated according to the actual height of the first obstacle; when the height of the first obstacle cannot be detected, it means that the depth of the first obstacle is too deep. At this time, a default virtual icon can be used to indicate that the position of the first obstacle corresponds to the position of the plane where the vehicle is located and the height of the first obstacle. The default virtual icon can be set by the user, or it can be a factory setting of the system.

[0041] In the above technical solution, the height and position of the negative obstacle are indicated by a virtual icon, which helps the driver to more intuitively determine the position and depth of the negative obstacle, reduces the degree of distraction of the driver's attention, and helps to improve driving safety when the driver is driving.

[0042] In a second aspect, a control device is provided, which includes: an acquisition unit for acquiring the type and position of a first obstacle, the type indicating that the first obstacle is a low obstacle or a negative obstacle, wherein a low obstacle is an obstacle whose highest point is higher than the plane of the vehicle and lower than the plane of the vehicle's chassis, and a negative obstacle is an obstacle whose highest point is lower than the plane of the vehicle; a processing unit for performing at least one of the following according to the type and position of the first obstacle: controlling the speed of the vehicle, and controlling the posture of the vehicle.

[0043] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is used to: control the distance between the outer contour of the first wheel of the vehicle and the first obstacle to be greater than or equal to a first distance threshold, and the first wheel is the wheel of the vehicle that is closest to the first obstacle.

[0044] In combination with the second aspect, in certain implementations of the second aspect, the acquisition unit is further used to: obtain the position of a second obstacle, where the second obstacle is a high obstacle and is located in the same area as the first obstacle, and the high obstacle is an obstacle whose highest point is higher than or equal to the plane of the vehicle's chassis; the processing unit is used to: control the distance between the outer contour of the first wheel of the vehicle and the first obstacle to be greater than or equal to a first distance threshold, and control the distance between the first part of the outer contour of the vehicle and the second obstacle to be greater than or equal to a second distance threshold, where the first part is the part of the outer contour closest to the second obstacle.

[0045] In combination with the second aspect, in certain implementations of the second aspect, the first obstacle is located on a first side of the target parking area, and the processing unit is configured to: when controlling the vehicle to park in the target parking area, ensure that a distance between a second portion of the vehicle's outer contour and a boundary of the second side of the target parking area is greater than or equal to a third distance threshold, where the second side is opposite to the first side, and the second portion is opposite to the side where the first wheel is located.

[0046] In combination with the second aspect, in certain implementations of the second aspect, the first obstacle is a negative obstacle, and the processing unit is used to: when the first obstacle is located in the direction of vehicle travel and the length of the first obstacle along the direction of vehicle travel is greater than or equal to a first preset threshold, or when the first obstacle is located on the side of the vehicle and the length of the first obstacle perpendicular to the direction of vehicle travel is greater than or equal to a second preset threshold, perform at least one of the following according to the type and position of the first obstacle: control the speed of the vehicle, and control the posture of the vehicle.

[0047] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is used to: when the distance between the first obstacle and the outer contour of the second wheel of the vehicle is greater than a fourth distance threshold, control the vehicle to travel at a first acceleration so that when the distance between the first obstacle and the outer contour of the second wheel is less than or equal to the fourth distance threshold, the speed of the vehicle is less than or equal to the first speed threshold, and the second wheel is the wheel of the vehicle that is closest to the first obstacle.

[0048] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is further used to: when the first obstacle is a low obstacle, control the sound-emitting device to play a first sound effect; when the first obstacle is a negative obstacle, control the sound-emitting device to play a second sound effect.

[0049] In combination with the second aspect, in certain implementations of the second aspect, the first obstacle is a negative obstacle, and the processing unit is further used to perform at least one of the following: controlling the prompt device to prompt the distance between the vehicle and the first obstacle; controlling the prompt device to prompt the location of the first obstacle; or controlling the prompt device to indicate that the vehicle is at risk of falling.

[0050] In combination with the second aspect, in certain implementations of the second aspect, the device also includes a generation unit for: generating a virtual icon based on the height information of the first obstacle, the virtual icon indicating that the position of the first obstacle corresponds to the position of the plane on which the vehicle is located and the height of the first obstacle; the processing unit is used to: control the prompt device to display the virtual icon.

[0051] In a third aspect, a control device is provided, which includes: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device executes the method in any possible implementation of the first aspect.

[0052] In a fourth aspect, an intelligent driving device is provided, which includes the apparatus in any possible implementation of the second aspect or the third aspect.

[0053] In combination with the fourth aspect, in some implementations of the fourth aspect, the intelligent driving device is a vehicle.

[0054] In combination with the fourth aspect, in certain implementations of the fourth aspect, the intelligent driving device includes a sound-emitting device and / or a prompting device.

[0055] In a fifth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in any one of the possible implementations of the first aspect.

[0056] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a first storage medium, wherein the first storage medium may be packaged together with the processor or separately from the processor.

[0057] In a sixth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions. When the instructions are executed by a processor, the processor implements the method in any possible implementation of the first aspect.

[0058] In a seventh aspect, a chip is provided, which includes a circuit for executing the method in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] FIG1 is a schematic diagram of a parking scene;

[0060] FIG2 is a functional schematic block diagram of a vehicle provided in an embodiment of the present application;

[0061] FIG3 is a schematic diagram of the architecture of a control system provided in an embodiment of the present application;

[0062] FIG4 is a schematic flow chart of a control method provided in an embodiment of the present application;

[0063] FIG5 is a schematic diagram of a vehicle collision detection area provided in an embodiment of the present application;

[0064] FIG6 is another schematic diagram of a vehicle collision detection area provided in an embodiment of the present application;

[0065] FIG7 is a schematic diagram of a parking posture provided by an embodiment of the present application;

[0066] FIG8 is another schematic diagram of a parking posture provided by an embodiment of the present application;

[0067] FIG9 is another schematic flow chart of the control method provided in an embodiment of the present application;

[0068] FIG10 is a schematic diagram of a negative obstacle grid occupation point provided by an embodiment of the present application;

[0069] FIG11 is a schematic diagram of a prompt scenario provided in an embodiment of the present application;

[0070] FIG12 is a schematic block diagram of a control device provided in an embodiment of the present application;

[0071] FIG13 is another schematic block diagram of the control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] As mentioned above, current automated parking systems cannot identify negative obstacles whose highest point is below the vehicle's surface, such as ditches, manholes, and ground collapses. This makes it impossible to plan a path around these obstacles during parking, making it easy for the vehicle to fall. For example, as shown in Figures 1 (a) to (d), one or two wheels on one side of the vehicle (e.g., the left, right, front, or rear) could fall into a negative obstacle, causing the vehicle chassis to scrape or even the entire vehicle to fall into the negative obstacle, seriously threatening the safety of the vehicle and its passengers.

[0073] In view of this, the embodiments of the present application provide a control method, device and intelligent driving equipment that can identify negative obstacles and control the speed and / or posture of the vehicle according to the location of the negative obstacle, or can also prompt relevant information of the negative obstacle to improve the safety of the vehicle during driving or parking and protect the personal and property safety of the user.

[0074] The intelligent driving devices involved in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving device can be a vehicle, which is a vehicle in a broad sense, and can be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of this application do not specifically limit the type of vehicle. For example, the vehicle can be a vehicle such as an airplane or a ship.

[0075] The technical solution in this application will be described below with reference to the accompanying drawings.

[0076] FIG2 is a functional block diagram of a vehicle provided in an embodiment of the present application. As shown in FIG2 , the vehicle 100 may include a perception system 120, a display device 130, and a computing platform 150, wherein the perception system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (GPS), a BeiDou system, or other positioning systems. For another example, the perception system 120 may also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0077] Some or all functions of vehicle 100 may be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit capable of processing signals. In one implementation, the processor may be a circuit capable of reading and executing instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationships of hardware circuits. The logical relationships of the hardware circuits may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions, and some or all of the processors 151 to 15n may call the instructions in the memory to implement corresponding functions.

[0078] The display device 130 in the cockpit is mainly divided into two categories: the first is the onboard display screen; the second is a projection display screen, such as a head-up display (HUD). The onboard display screen is a physical display screen and a key component of the in-vehicle infotainment system. Multiple displays can be installed in the cockpit, such as the digital instrument panel and the central control screen. A head-up display, also known as a head-up display system, is primarily used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's gaze shift time, avoids pupil changes caused by the driver's gaze shift, and improves driving safety and comfort. HUDs include, for example, a combined head-up display (C-HUD), a windshield head-up display (W-HUD), and an augmented reality head-up display (AR-HUD). The display device may also include the interactive system 130 and a human-machine interface (HMI) to prompt the user when switching between planning modes.

[0079] Vehicle 100 may include an advanced driving assistant system (ADAS). ADAS utilizes a variety of sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the vehicle's surroundings, and analyzes and processes the obtained information to implement functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / reminders, etc., thereby improving the safety, automation and comfort of vehicle driving.

[0080] From a logical function perspective, ADAS systems generally include three main functional modules: perception module, decision module and execution module. The perception module perceives the surrounding environment of the vehicle body through sensors and inputs corresponding real-time data to the decision-making layer processing center. The perception module mainly includes on-board cameras / ultrasonic radars / millimeter-wave radars / lidars, etc.; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, warnings, etc.

[0081] ADAS can provide varying degrees of automated driving assistance at different levels of automation (L0-L5), based on artificial intelligence algorithms and information from multiple sensors. These levels are based on the Society of Automotive Engineers (SAE) grading standards. L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At L1-L3, monitoring and responding to road conditions are performed jointly by the driver and the system, with the driver taking over dynamic driving tasks. At L4 and L5, the driver transitions completely to the role of passenger. Currently, ADAS features include, but are not limited to, adaptive cruise control, automatic emergency braking, automated parking, blind spot monitoring, front cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keep assist, rear collision warning, traffic sign recognition, traffic jam assistance, and highway assistance. It should be understood that the various functions mentioned above may have specific modes at different autonomous driving levels (L0-L5), and the higher the autonomous driving level, the smarter the corresponding mode. For example, automatic parking may include APA, RPA, and AVP. For APA, the driver does not need to operate the steering wheel, but the driver is still required to operate the vehicle in real time to monitor the vehicle status; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the vehicle from outside the vehicle; for AVP, the vehicle can complete parking without a driver. In terms of the corresponding autonomous driving level, APA is approximately at the L2 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0082] In an embodiment of the present application, the computing platform 150 can control the speed and position of the vehicle based on the negative obstacle information obtained by the perception system 120, and / or prompt the user of the existence of the negative obstacle.

[0083] FIG3 is a schematic diagram of the control system architecture provided by an embodiment of the present application. As shown in FIG3 , the system includes a perception module 210, a regulation and control module 220, a prompt module 230, and an actuator 240. The perception module 210 may include one or more sensors from the perception system 120 shown in FIG2 and one or more processors from the computing platform 150. The perception module 210 may include a negative obstacle detection module 211 and an occupancy grid generation module 212. The regulation and control module 220 may include one or more processors from the computing platform 150 shown in FIG2. The regulation and control module 220 may include a collision detection and adaptation module 221 and a speed / posture control module 222. The prompt module 230 may include one or more of the display devices 130 shown in FIG2 and may also include a sound-generating device such as a speaker or sound box. The prompt module 230 includes a negative obstacle display module 231 and a negative obstacle warning module 232. The actuator 240 may include the chassis, steering, and braking control systems of the vehicle 100.

[0084] The negative obstacle detection module 211 is used to detect the location of negative obstacles in a first area. This first area can be an area that the vehicle is approaching during driving, or it can be an area adjacent to the target parking area. The occupancy grid generation module 212 is used to generate an occupancy grid map based on the height information of the negative obstacles and can also mark negative obstacles of different heights in the occupancy grid map. The perception module 210 can input the location of the negative obstacle in the first area and the generated occupancy grid to the monitoring module 220 and the prompt module 230, respectively.

[0085] The collision detection adaptation module 221 can determine the vehicle body area (or collision detection area) used for obstacle collision detection based on the information of the negative obstacle, and then perform speed / posture planning based on the collision detection area. The speed / posture control module 222 is used to control the posture and speed of the vehicle based on the collision detection area determined by the collision detection adaptation module 221 and the position of the negative obstacle, so that the vehicle can stop when it is close to the negative obstacle to avoid the risk of falling. The speed / posture control module 222 can calculate the corresponding control amount based on the speed and posture, and output the above control amount to the actuator 240. When the actuator 240 executes the control amount, it controls the vehicle to travel along the planned path and / or controls the vehicle to park according to the planned posture.

[0086] The negative obstacle display module 231 is used to display the location of the negative obstacle and / or the distance between the negative obstacle and the vehicle on the display interface. The negative obstacle warning module 232 is used to control the display interface to issue a warning indicating that the vehicle is at risk of falling based on the location of the negative obstacle transmitted by the perception module 210. The warning module 230 can also display the distance between the negative obstacle and the collision detection area determined by the collision detection adaptation module 221.

[0087] It should be understood that the above modules are only examples, and in actual applications, the above modules may be added or deleted according to actual needs. For example, the negative obstacle display module 231 and the negative obstacle warning module 232 can be combined into one module.

[0088] The specific process of the control method provided in the embodiment of the present application is described below with reference to Figures 4 to 11.

[0089] FIG4 shows a schematic flow chart of a control method provided by an embodiment of the present application. The method 400 may be executed by the vehicle 100 shown in FIG2 , or may be executed by the system shown in FIG3 . The method 400 may include:

[0090] S410: Obtain the type and position of the first obstacle, where the type indicates whether the first obstacle is a low obstacle or a negative obstacle, wherein a low obstacle is an obstacle whose highest point is higher than the plane of the vehicle and lower than the plane of the vehicle's chassis, and a negative obstacle is an obstacle whose highest point is lower than the plane of the vehicle.

[0091] In some possible implementations, the first obstacle is located in an area that the vehicle gradually approaches when traveling or in an area adjacent to the target parking area.

[0092] For example, the area that the vehicle gradually approaches while traveling can be determined based on the vehicle's planned path, or can also be determined based on the vehicle's gear position and / or steering wheel angle. The area that the vehicle gradually approaches while traveling can be located in the direction of the vehicle's travel. For example, when the vehicle is in "D" gear (drive), the area can be located in front of the front of the vehicle; when the vehicle is in "R" gear (reverse), the area can be located behind the rear of the vehicle. The area that the vehicle gradually approaches while traveling can also be located to the side of the vehicle. For example, the area can be located on the left side of the vehicle, or the area can be located on the right side of the vehicle.

[0093] For example, the area adjacent to the target parking area may be an area adjacent to any one of the four boundaries of the target parking area.

[0094] Exemplarily, the plane where the vehicle is located can be the plane where the lowest points of all wheels of the vehicle are located. For example, the plane where the vehicle is located can be the ground, or it can also be the vehicle loading plate of a mechanical parking space, or it can also be other planes.

[0095] S420: Execute at least one of the following according to the type and position of the first obstacle: control the speed of the vehicle, and control the posture of the vehicle.

[0096] In some possible implementations, the method further includes: obtaining the position of the high obstacle, and performing at least one of the following according to the position of the high obstacle: controlling the speed of the vehicle, controlling the posture of the vehicle, and prompting information associated with the high obstacle.

[0097] Exemplarily, controlling the vehicle speed and / or posture based on the position of an obstacle may include controlling the vehicle speed and / or posture based on the distance between the obstacle and the vehicle. When determining the distance between the obstacle and the vehicle, different types of obstacles have different areas used to determine the distance. In one example, when the obstacle is located in front of or behind the vehicle and the obstacle is a negative obstacle or a low obstacle, the vehicle speed and / or posture is controlled based on the distance between the front end of the vehicle's front wheels or the rear end of the vehicle's rear wheels and the obstacle. That is, area 501 as shown in (a) of Figure 5 is used as the area for determining whether a collision with the obstacle will occur (or whether the vehicle will fall into the area of ​​the negative obstacle, and this application collectively refers to the above two areas as collision judgment areas). In another example, when the obstacle is located in front of or behind the vehicle and the obstacle is a high obstacle, the vehicle speed and / or posture is controlled based on the distance between the vehicle's outer contour and the obstacle. That is, area 502 as shown in (b) of Figure 5 is used as the collision judgment area. In another example, when an obstacle is located to the side of the vehicle (e.g., on the left or right side) and is a negative obstacle or a low obstacle, the vehicle's speed and / or posture is controlled based on the distance between the outermost contour of the vehicle's left wheel or the outermost contour of the right wheel and the obstacle. That is, area 601 shown in (a) of Figure 6 is used as the collision judgment area. In another example, when an obstacle is located to the side of the vehicle and is a high obstacle, the vehicle's speed and / or posture is controlled based on the distance between the vehicle's outer contour and the obstacle. That is, area 602 shown in (b) of Figure 6 is used as the collision judgment area.

[0098] In some possible implementations, if the first obstacle is a negative obstacle, then when the first obstacle is located in the direction of vehicle travel and the length of the first obstacle along the direction of vehicle travel is greater than or equal to a first preset threshold, or when the first obstacle is located to the side of the vehicle and the length of the first obstacle perpendicular to the direction of vehicle travel is greater than or equal to a second preset threshold, at least one of the following is performed based on the type and location of the first obstacle: controlling the vehicle's speed, controlling the vehicle's posture, and prompting information associated with the first obstacle.

[0099] For example, if the length of the first obstacle along the vehicle's travel direction or the length of the first obstacle perpendicular to the vehicle's travel direction cannot be determined or detected, the aforementioned lengths are considered infinite. For example, if the first obstacle is obstacle 701 in Figure 7(a), the length of the first obstacle perpendicular to the vehicle's travel direction may be w1 as shown in Figure 7(a); if the first obstacle is obstacle 704 in Figure 7(c), the length of the first obstacle along the vehicle's travel direction may be w1 as shown in Figure 7(c).

[0100] For example, the first preset threshold value can be determined based on the wheel diameter and the vehicle chassis height, for example, the first preset threshold value can be 20 centimeters, or other values. The second preset threshold value can be the wheel width, or other values ​​smaller than the wheel width.

[0101] In some possible implementations, taking the first obstacle as obstacle 702 or obstacle 703 in Figure 7 as an example, controlling the vehicle's posture may include: controlling the distance between the outer contour of the first wheel of the vehicle and the first obstacle to be greater than or equal to a first distance threshold, and the first wheel is the wheel of the vehicle that is closest to the first obstacle.

[0102] Among them, controlling the distance between the outer contour of the first wheel and the first obstacle to be greater than or equal to a first distance threshold may include: controlling the distance between the outer contour of the first wheel and the first obstacle to be greater than or equal to the first distance threshold while the vehicle is moving, and / or controlling the distance between the outer contour of the first wheel and the first obstacle to be greater than or equal to the first distance threshold after the vehicle stops.

[0103] For example, when the first obstacle is located to the side of the vehicle, the distance between the outer profile of the first wheel and the first obstacle can be: the distance between the plane of the first wheel's axially outermost side and the first obstacle, as shown by d1 in Figure 7 (a) and (b). When the first obstacle is located in front of or behind the vehicle, the distance between the outer profile of the first wheel and the first obstacle can be: the distance between the first wheel's circumferential outermost side, away from the vehicle's center point, and the first obstacle, as shown by d1 in Figure 7 (c) and (d).

[0104] Exemplarily, the first distance threshold may be 30 centimeters, or 20 centimeters, or other values.

[0105] In some possible implementations, the first distance threshold may be different depending on the type of the first obstacle and the area where the first obstacle is located. For example, the relationship between the first distance threshold and the type of the first obstacle and the area where the first obstacle is located may be as shown in Table 1.

[0106] Table 1

[0107] In some possible implementations, the method further includes: obtaining the position of a second obstacle, the second obstacle being a high obstacle and being located in the same area as the first obstacle, the high obstacle being an obstacle whose highest point is higher than or equal to the plane of the vehicle's chassis; controlling the vehicle's posture, including: controlling the distance between the outer contour of the vehicle's first wheel and the first obstacle to be greater than or equal to a first distance threshold, and controlling the distance between a first part of the vehicle's outer contour and the second obstacle to be greater than or equal to a second distance threshold, the first part being the part of the outer contour closest to the second obstacle.

[0108] For example, as shown in Figure 8, 810 is an example of a second obstacle, d1 is the distance between the outer contour of the first wheel of the vehicle and the first obstacle, and d2 is the distance between the first part of the outer contour of the vehicle and the second obstacle. Controlling the posture of the vehicle includes: controlling d1 to be greater than or equal to the first distance threshold, and d2 to be greater than or equal to the second distance threshold.

[0109] For example, the second distance threshold may be 30 centimeters, or 20 centimeters, or other values. The second distance threshold and the first distance threshold may be the same value, or different values.

[0110] In some possible implementations, the first obstacle is located on a first side of a target parking area, and controlling the vehicle's posture includes: when controlling the vehicle to park in the target parking area, the distance between a second portion of the vehicle's outer contour and a boundary of the second side of the target parking area is greater than or equal to a third distance threshold, the second side being a side opposite to the first side, and the second portion being a side opposite to a side where the first wheel is located.

[0111] For example, the target parking area is a vertical parking space, which is surrounded by two longer parking lines and two shorter parking lines. If the first side of the target parking area is on one side of the longer parking line of the parking space, then the second side of the target parking area is on the side of the other longer parking line of the parking space; if the first side of the target parking area is on one side of the shorter parking line of the parking space, then the second side of the target parking area is on the side of the other shorter parking line of the parking space.

[0112] Exemplarily, the third distance threshold may be 5 centimeters, or 3 centimeters, or other values.

[0113] In some possible implementations, when the distance between the first obstacle and the outer contour of the second wheel of the vehicle is greater than a fourth distance threshold, the vehicle is controlled to travel at a first acceleration so that when the distance between the first obstacle and the outer contour of the second wheel is less than or equal to the fourth distance threshold, the speed of the vehicle is less than or equal to the first speed threshold, and the second wheel is the wheel of the vehicle that is closest to the first obstacle.

[0114] For example, the fourth distance threshold may be 1.5 meters, or 1 meter, or other values. The first speed threshold may be 0.2 meters per second, or 0.3 meters per second, or other values.

[0115] In some possible implementations, the method further includes controlling a prompting device to prompt information associated with the first obstacle. For example, the information associated with the first obstacle may include at least one of the following: a location of the first obstacle, a distance between the vehicle and the first obstacle, a height of the first obstacle, and a risk that may be posed by the first obstacle (e.g., a risk of falling or a risk of collision).

[0116] In one example, when the vehicle's automatic parking or autonomous driving function is enabled, the vehicle's speed and / or posture are controlled based on the type and location of the first obstacle to prevent the vehicle's wheels or the vehicle from falling into the obstacle, or to prevent the vehicle's wheels from colliding with a low obstacle. When the vehicle's automatic parking or autonomous driving function is enabled, information related to the first obstacle may also be displayed to prompt the driver to take over the vehicle.

[0117] In another example, when the vehicle does not have the automatic driving function or the driving assistance function turned on, information associated with the first obstacle is prompted based on the type and location of the first obstacle to remind the driver of the existence of a negative obstacle or a low obstacle, thereby reducing the chance of the vehicle falling or colliding with the low obstacle.

[0118] The control method provided in the embodiment of the present application can control the speed and / or posture of the vehicle according to the position of the negative obstacle and / or low obstacle to prevent the vehicle from falling into the negative obstacle or colliding with the low obstacle, which helps to improve driving safety or parking safety, and thereby enhance the personal and property safety of users.

[0119] FIG9 shows a schematic flow chart of a method for determining negative obstacles involved in method 900. Method 900 may be performed by vehicle 100 shown in FIG2, or the system shown in FIG3. Method 900 may be performed before method 400, and may include:

[0120] S901: Acquire an image of a first area.

[0121] Exemplarily, the first area may include the area where the first obstacle is located.

[0122] S902: Acquire point cloud data of the first area.

[0123] S903: Match the image and the point cloud to determine the position of the negative obstacle.

[0124] Exemplarily, the image of the first area is processed by visual semantic segmentation to identify the location of the negative obstacle, and the image is matched with the point cloud data to determine the location of the negative obstacle in the point cloud layer.

[0125] S904: Generate a grid occupation point according to the position of the negative obstacle to indicate the position of the negative obstacle on the plane where the vehicle is located.

[0126] Exemplarily, a grid occupancy map of the obstacle is generated based on the matched laser point cloud layer, and a negative obstacle grid occupancy point is generated according to the position of the negative obstacle in the laser point cloud layer. The negative obstacle grid occupancy point can indicate that the position of the negative obstacle corresponds to the position of the plane where the vehicle is located.

[0127] In one example, the height (depth) of a negative obstacle can be evaluated using image and / or point cloud data. As shown in (a) of Figure 10, 1001 is the plane where the vehicle is located, and 1002 is the area where the negative obstacle is located. Based on the area where the negative obstacle is located, negative obstacle grid occupied points 1003 can be generated on the equivalent horizontal plane of the vehicle plane 1001. The negative obstacle grid occupied points can also be mapped to positive obstacle grid occupied points in the area where the negative obstacle is located based on the height of the negative obstacle. The height of the positive obstacle is z′=|z|, where z is the measured height of the negative obstacle.

[0128] In another example, the height of a negative obstacle may be too great to be determined using image or point cloud data. As shown in Figure 10(b), 1004 represents the plane on which the vehicle is located, and 1005 represents the area where the negative obstacle is located. Based on the area where the negative obstacle is located, a negative obstacle grid point 1005 can be generated on the equivalent horizontal plane of the vehicle's plane 1003.

[0129] In some possible implementations, a virtual icon may be generated based on the grid points occupied by the negative obstacle, and the virtual icon may be displayed on a display device such as an HMI to provide the user with information associated with the negative obstacle. For example, as shown in FIG11(a), the text 1110 "Caution: Fall Risk" may be used to indicate that the vehicle may be at risk of falling due to the presence of a negative obstacle, and a virtual icon 1120 may be displayed to indicate the location of the negative obstacle. For example, the distance between the vehicle and the negative obstacle may also be displayed on the HMI. This distance is the distance between the vehicle's wheels closest to the negative obstacle and the negative obstacle, such as d1 in the above embodiment.

[0130] For example, when the height of the negative obstacle can be detected, the height information of the negative obstacle can also be represented by a virtual icon 1120. For example, when the height of the negative obstacle can be detected, the virtual icon 1120 is displayed in color 1; when the height of the negative obstacle cannot be detected, the virtual icon 1120 is displayed in color 2.

[0131] In some possible implementations, when a vehicle identifies a low or high obstacle, information associated with the low / high obstacle may be displayed to the user via a display device. For example, as shown in FIG11(b), text 1130 "Caution: Collision Risk" may be displayed to indicate the vehicle's potential collision risk due to the presence of a low / high obstacle. A virtual icon 1140 may also be displayed to indicate the location of the low / high obstacle. For example, the distance between the vehicle and the low / high obstacle may also be displayed on the HMI. This distance is the distance between the vehicle's outer contour and the low / high obstacle, such as d2 in the above-described embodiment.

[0132] In some possible implementations, one or more of the above information may also be prompted through the HUD, as shown in FIG11 , by displaying text 1150 on the HUD to prompt that the vehicle is at risk of falling or colliding; or one or more of the above information may also be prompted through a sound-emitting device such as a speaker or a sound box, as shown in FIG11 , by broadcasting a voice 1160 “Beware of falling / collision risk” through a sound-emitting device to prompt that the vehicle is at risk of falling or colliding.

[0133] In some possible implementations, the sound device may also play different prompt sounds to indicate the type of obstacle. For example, when a low obstacle or a high obstacle is detected, the sound device may be controlled to play a first sound effect; when a negative obstacle is detected, the sound device may be controlled to play a second sound effect.

[0134] In summary, the embodiments of the present application provide a control method that can execute different control strategies for a vehicle according to the type of obstacle. For example, the correspondence between obstacle types and control strategies can be shown in Table 2.

[0135] Table 2

[0136] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0137] The control method provided in the embodiment of the present application is described in detail above with reference to Figures 2 to 11. The control device provided in the embodiment of the present application will be described in detail below with reference to Figures 12 and 13. It should be understood that the description of the control device embodiment corresponds to the description of the method embodiment. Therefore, for matters not described in detail, reference can be made to the method embodiment above, and for the sake of brevity, they will not be repeated here.

[0138] Figure 12 shows a schematic block diagram of a control device 2000 provided in an embodiment of the present application. The device 2000 may include units for executing the methods in Figures 4 and 9. Furthermore, each unit in the device 2000 is for implementing the corresponding process of the method embodiments in Figures 4 and 9.

[0139] The device 2000 includes: an acquisition unit 2010, used to obtain the type and position of the first obstacle, the type indicating that the first obstacle is a low obstacle or a negative obstacle, wherein a low obstacle is an obstacle whose highest point is higher than the plane of the vehicle and lower than the plane of the vehicle's chassis, and a negative obstacle is an obstacle whose highest point is lower than the plane of the vehicle; a processing unit 2020, used to perform at least one of the following according to the type and position of the first obstacle: controlling the speed of the vehicle, controlling the posture of the vehicle.

[0140] In some possible implementations, the processing unit 2020 is used to: control the distance between the outer contour of a first wheel of the vehicle and the first obstacle to be greater than or equal to a first distance threshold, and the first wheel is the wheel of the vehicle that is closest to the first obstacle.

[0141] In some possible implementations, the acquisition unit 2010 is further used to: obtain the position of a second obstacle, where the second obstacle is a high obstacle and is located in the same area as the first obstacle, and the high obstacle is an obstacle whose highest point is higher than or equal to the plane of the vehicle's chassis; the processing unit 2020 is used to: control the distance between the outer contour of the first wheel of the vehicle and the first obstacle to be greater than or equal to a first distance threshold, and control the distance between the first part of the outer contour of the vehicle and the second obstacle to be greater than or equal to a second distance threshold, where the first part is the part of the outer contour closest to the second obstacle.

[0142] In some possible implementations, the first obstacle is located on a first side of the target parking area, and the processing unit 2020 is configured to control the vehicle to park in the target parking area so that a distance between a second portion of the vehicle's outer contour and a boundary of a second side of the target parking area is greater than or equal to a third distance threshold, where the second side is opposite to the first side, and the second portion is opposite to the side where the first wheel is located.

[0143] In some possible implementations, the first obstacle is a negative obstacle, and the processing unit 2020 is used to: when the first obstacle is located in the direction of vehicle travel and the length of the first obstacle along the direction of vehicle travel is greater than or equal to a first preset threshold, or when the first obstacle is located on the side of the vehicle and the length of the first obstacle perpendicular to the direction of vehicle travel is greater than or equal to a second preset threshold, perform at least one of the following according to the type and position of the first obstacle: control the speed of the vehicle, and control the posture of the vehicle.

[0144] In some possible implementations, the processing unit 2020 is used to: when the distance between the first obstacle and the outer contour of the second wheel of the vehicle is greater than a fourth distance threshold, control the vehicle to travel at a first acceleration so that when the distance between the first obstacle and the outer contour of the second wheel is less than or equal to the fourth distance threshold, the speed of the vehicle is less than or equal to the first speed threshold, and the second wheel is the wheel of the vehicle that is closest to the first obstacle.

[0145] In some possible implementations, the processing unit 2020 is further configured to: when the first obstacle is a low obstacle, control the sound-generating device to play a first sound effect; and when the first obstacle is a negative obstacle, control the sound-generating device to play a second sound effect.

[0146] In some possible implementations, the first obstacle is a negative obstacle, and the processing unit 2020 is further used to perform at least one of the following: controlling the prompt device to prompt the distance between the vehicle and the first obstacle; controlling the prompt device to prompt the location of the first obstacle; or controlling the prompt device to indicate that the vehicle is at risk of falling.

[0147] In some possible implementations, the device 2000 also includes a generation unit for: generating a virtual icon based on the height information of the first obstacle, the virtual icon indicating that the position of the first obstacle corresponds to the position of the plane on which the vehicle is located and the height of the first obstacle; the processing unit 2020 is used to: control the prompt device to display the virtual icon.

[0148] Exemplarily, the acquisition unit 2010 and the processing unit 2020 may be provided in the system shown in FIG3 . More specifically, the acquisition unit 2010 and the processing unit 2020 may be provided in the regulation and control module 220 . Exemplarily, the operations performed by the acquisition unit 2010 and the processing unit 2020 may be performed by a single processor, or by different processors. In a specific implementation, the one or more processors may be provided in the vehicle 100 shown in FIG2 ; alternatively, the apparatus 2000 may be provided in the vehicle 100 .

[0149] In a specific implementation process, all or part of the units in the above apparatus may be integrated together, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0150] Figure 13 is a schematic block diagram of a control device provided in an embodiment of the present application. The control device 2100 shown in Figure 13 may include: a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected via an internal connection path. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 can be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0151] It should be noted that the transceiver 2120 may include but is not limited to a transceiver device such as an input / output interface to implement communication between the device 2100 and other devices or a communication network.

[0152] The memory 2130 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0153] The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2100 and other devices or communication networks to receive / send data / information used to implement the methods in the above embodiments.

[0154] An embodiment of the present application further provides an intelligent driving device, which includes the control device 2000 or the control device 2100 in the above embodiment.

[0155] An embodiment of the present application further provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0156] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0157] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0158] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0159] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" refers to one or more, and "more than one" refers to two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0160] In the embodiments of this application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity, or content of the described objects. The use of prefixes such as ordinal numbers in the embodiments of this application to distinguish description objects does not constitute a limitation on the described objects. For a statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0161] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0162] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0163] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0164] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0165] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A control method, characterized in that: include: Acquire a type and a position of a first obstacle, wherein the type indicates that the first obstacle is a low obstacle or a negative obstacle, wherein the low obstacle is an obstacle whose highest point is higher than a plane where the vehicle is located and lower than a plane where the chassis of the vehicle is located, and the negative obstacle is an obstacle whose highest point is lower than a plane where the vehicle is located; According to the type and position of the first obstacle, at least one of the following is performed: controlling the speed of the vehicle, and controlling the posture of the vehicle.

2. The method according to claim 1, characterized in that The controlling the posture of the vehicle comprises: The distance between the outer profile of a first wheel of the vehicle and the first obstacle is controlled to be greater than or equal to a first distance threshold, and the first wheel is the wheel of the vehicle that is closest to the first obstacle.

3. The method according to claim 2, characterized in that The method further comprises: Acquire a position of a second obstacle, where the second obstacle is a high obstacle and is located in the same area as the first obstacle, and the high obstacle is an obstacle whose highest point is higher than or equal to the plane where the chassis of the vehicle is located; The controlling the distance between the outer contour of the first wheel of the vehicle and the first obstacle to be greater than or equal to a first distance threshold comprises: The distance between the outer contour of the first wheel of the vehicle and the first obstacle is controlled to be greater than or equal to a first distance threshold, and the distance between the first part of the outer contour of the vehicle and the second obstacle is controlled to be greater than or equal to a second distance threshold, and the first part is the part of the outer contour closest to the second obstacle.

4. The method according to claim 2 or 3, characterized in that: The first obstacle is located at a first side of a target parking area, and the controlling the posture of the vehicle includes: When the vehicle is controlled to park in the target parking area, a distance between a second portion of an outer contour of the vehicle and a boundary of a second side of the target parking area is greater than or equal to a third distance threshold, the second side being a side opposite to the first side, and the second portion being a side opposite to a side where the first wheel is located.

5. The method according to any one of claims 1 to 4, characterized in that The first obstacle is a negative obstacle, and the performing of at least one of the following: controlling the speed of the vehicle, and controlling the posture of the vehicle includes: When the first obstacle is located in the direction of travel of the vehicle and the length of the first obstacle along the direction of travel of the vehicle is greater than or equal to a first preset threshold, or when the first obstacle is located on the side of the vehicle and the length of the first obstacle perpendicular to the direction of travel of the vehicle is greater than or equal to a second preset threshold, at least one of the following is performed according to the position of the first obstacle: controlling the speed of the vehicle, controlling the posture of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that The controlling the speed of the vehicle comprises: When the distance between the first obstacle and the outer contour of the second wheel of the vehicle is greater than a fourth distance threshold, the vehicle is controlled to travel at a first acceleration so that when the distance between the first obstacle and the outer contour of the second wheel is less than or equal to the fourth distance threshold, the speed of the vehicle is less than or equal to the first speed threshold, and the second wheel is the wheel of the vehicle that is closest to the first obstacle.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: When the first obstacle is a low obstacle, controlling the sound-generating device to play a first sound effect; or When the first obstacle is a negative obstacle, the sound-generating device is controlled to play a second sound effect.

8. The method according to any one of claims 1 to 7, characterized in that The first obstacle is a negative obstacle, and the method further includes at least one of the following: Controlling the prompting device to prompt the distance between the vehicle and the first obstacle; controlling the prompting device to prompt the location of the first obstacle; or The vehicle is controlled to indicate that there is a risk of falling.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: generating a virtual icon according to the height information of the first obstacle, the virtual icon indicating that the position of the first obstacle corresponds to the position of the plane where the vehicle is located and the height of the first obstacle; The prompt device is controlled to display the virtual icon.

10. A control device, characterized in that: include: an acquisition unit, configured to acquire a type and a position of a first obstacle, wherein the type indicates that the first obstacle is a low obstacle or a negative obstacle, wherein the low obstacle is an obstacle whose highest point is higher than a plane where the vehicle is located and lower than a plane where the chassis of the vehicle is located, and the negative obstacle is an obstacle whose highest point is lower than a plane where the vehicle is located; A processing unit is used to perform at least one of the following according to the type and position of the first obstacle: controlling the speed of the vehicle, and controlling the posture of the vehicle.

11. The device according to claim 10, characterized in that The processing unit is used for: The distance between the outer profile of a first wheel of the vehicle and the first obstacle is controlled to be greater than or equal to a first distance threshold, and the first wheel is the wheel of the vehicle that is closest to the first obstacle.

12. The device according to claim 11, characterized in that The acquisition unit is also used for: Acquire a position of a second obstacle, where the second obstacle is a high obstacle and is located in the same area as the first obstacle, and the high obstacle is an obstacle whose highest point is higher than or equal to the plane where the chassis of the vehicle is located; The processing unit is used for: The distance between the outer contour of the first wheel of the vehicle and the first obstacle is controlled to be greater than or equal to a first distance threshold, and the distance between the first part of the outer contour of the vehicle and the second obstacle is controlled to be greater than or equal to a second distance threshold, and the first part is the part of the outer contour closest to the second obstacle.

13. The device according to claim 11 or 12, characterized in that The first obstacle is located at a first side of the target parking area, and the processing unit is used for: When the vehicle is controlled to park in the target parking area, a distance between a second portion of an outer contour of the vehicle and a boundary of a second side of the target parking area is greater than or equal to a third distance threshold, the second side being a side opposite to the first side, and the second portion being a side opposite to a side where the first wheel is located.

14. The device according to any one of claims 10 to 13, characterized in that The first obstacle is a negative obstacle, and the processing unit is used for: When the first obstacle is located in the direction of travel of the vehicle and the length of the first obstacle along the direction of travel of the vehicle is greater than or equal to a first preset threshold, or when the first obstacle is located on the side of the vehicle and the length of the first obstacle perpendicular to the direction of travel of the vehicle is greater than or equal to a second preset threshold, at least one of the following is performed according to the position of the first obstacle: controlling the speed of the vehicle, controlling the posture of the vehicle.

15. The device according to any one of claims 10 to 14, characterized in that The processing unit is used for: When the distance between the first obstacle and the outer contour of the second wheel of the vehicle is greater than a fourth distance threshold, the vehicle is controlled to travel at a first acceleration so that when the distance between the first obstacle and the outer contour of the second wheel is less than or equal to the fourth distance threshold, the speed of the vehicle is less than or equal to the first speed threshold, and the second wheel is the wheel of the vehicle that is closest to the first obstacle.

16. The device according to any one of claims 10 to 15, characterized in that The processing unit is also used for: When the first obstacle is a low obstacle, controlling the sound-generating device to play a first sound effect; or When the first obstacle is a negative obstacle, the sound-generating device is controlled to play a second sound effect.

17. The device according to any one of claims 10 to 16, characterized in that The first obstacle is a negative obstacle, and the processing unit is further configured to perform at least one of the following: Controlling the prompting device to prompt the distance between the vehicle and the first obstacle; controlling the prompting device to prompt the location of the first obstacle; or The vehicle is controlled to indicate that there is a risk of falling.

18. The device according to any one of claims 10 to 17, characterized in that The device also includes a generating unit, configured to: generating a virtual icon according to the height information of the first obstacle, the virtual icon indicating that the position of the first obstacle corresponds to the position of the plane where the vehicle is located and the height of the first obstacle; The processing unit is used to control the prompt device to display the virtual icon.

19. A control device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the control device executes the method according to any one of claims 1 to 9.

20. An intelligent driving device, characterized in that: Includes a control device as described in any one of 10 to 19.

21. A computer-readable storage medium, characterized in that: Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 9.

22. A chip, characterized in that: The chip comprises a circuit for executing the method according to any one of claims 1 to 9.

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