Vehicle control method and apparatus, and vehicle

Abstract

A vehicle control method and apparatus, and a vehicle. The method can be applied to the field of intelligent driving. The method comprises: acquiring an image which is collected by a camera in a vehicle, wherein the image comprises information of a reflector in an intersection, the intersection is an intersection of a road section where the vehicle is located and another road section where an obstacle is located, and the reflector is used for reflecting obstacles in the other road section; and controlling the vehicle at least on the basis of the image. The vehicle control method can be applied to an intelligent vehicle or an electric vehicle, and can facilitate reducing the safety risk of when vehicles meet in an intersection and also facilitate improving the safety of a user during driving.

Description

Vehicle control method, device and vehicle

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on August 29, 2023, with application number 202311113573.0 and application name “Vehicle Control Method, Device and Vehicle”, 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 vehicle control method, device and vehicle. Background Art

[0003] Currently, vehicles can identify interacting vehicles at intersections using data collected by sensors such as cameras, millimeter-wave radar, and lidar, enabling them to slow down and yield. However, at blind spot intersections, obstacles (such as pillars and walls) can block the data collected by these sensors, preventing them from identifying interaction risks in advance, potentially leading to collisions with interacting vehicles at intersections.

[0004] Summary of the Invention

[0005] The present application provides a vehicle control method, device, and vehicle, which help reduce safety risks when meeting other vehicles at intersections and also help improve user driving safety.

[0006] In a first aspect, a vehicle control method is provided, the method comprising: acquiring a first image captured by a first camera in a vehicle, the first image including information of a reflective mirror in an intersection, the intersection being an intersection of a first road section and a second road section, the vehicle being located in the first road section, and the reflective mirror being used to reflect obstacles in the second road section; and controlling the vehicle at least based on the first image.

[0007] Based on the above technical solution, when a vehicle passes through an intersection, it can control the vehicle's movement based on images captured by the camera, including those from the rearview mirror. This reduces safety risks when passing through intersections and helps improve driving safety. Furthermore, when the vehicle is in autonomous driving mode, the camera captures images, including those from the rearview mirror, making the vehicle's decision-making more human-like, helping to enhance the vehicle's intelligence.

[0008] In some possible implementations, controlling the vehicle at least based on the first image includes: determining at least based on the first image that there is no obstacle of a preset type in the second road section; when the vehicle is in an automatic driving state, controlling the vehicle to pass through the intersection according to a previously planned path (for example, a previously planned driving speed), or, when the vehicle is in a manually driven state, controlling the prompt device not to prompt the user.

[0009] In some possible implementations, when the vehicle is in an underground garage, the preset types of obstacles include other vehicles, motorcycles, bicycles, pedestrians, etc.

[0010] In some possible implementations, when the vehicle is in a mountainous area, the preset types of obstacles include other vehicles, motorcycles, bicycles, pedestrians, or stationary obstacles on the ground (e.g., fallen rocks, cones, water barriers, etc.).

[0011] In some possible implementations, controlling the vehicle at least based on the first image includes: determining at least based on the first image that there is an obstacle of a preset type in the second road section and that the obstacle of the preset type has not moved toward the intersection; when the vehicle is in an automatic driving state, controlling the vehicle to pass through the intersection according to a previously planned path, or, when the vehicle is in a manually driven state, controlling the prompt device not to prompt the user.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the first image includes a first frame image and a second frame image, and controlling the vehicle at least based on the first image includes: determining the moving direction of the first obstacle in the second road section at least based on the first frame image and the second frame image; when the moving direction indicates that the first obstacle is moving toward the intersection, controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down.

[0013] Based on the above technical solution, when it is determined through the information of the reflector that the first obstacle is moving towards the intersection, the vehicle can be controlled to give way to the first obstacle or the prompt device can be controlled to prompt the user to slow down, which can reduce the safety risks of the vehicle when passing through the intersection and help improve the user's driving safety.

[0014] In some possible implementations, determining the moving direction of the first obstacle in the second road section based on at least the first frame image and the second frame image includes: inputting the first frame image and the second frame image into an inference model to obtain the moving direction of the first obstacle, the moving direction of the first obstacle including the first obstacle moving toward the intersection, the first obstacle being stationary, or the first obstacle moving away from the intersection; wherein, the inference model is trained by a sample data set, and the sample training set includes at least two frames of images collected by a sample vehicle and the moving direction of the sample obstacle.

[0015] Based on the above technical solution, at least two frames of images including the reflector can be input into the inference model to obtain the movement direction of the obstacle, which helps to improve the speed at which the vehicle recognizes the movement direction of the obstacle and reduce the end-to-end delay from camera image acquisition to braking by the braking device. It helps to reduce the safety risks of the vehicle when passing through the intersection and also helps to improve the driving safety of users.

[0016] In some possible implementations, the first frame image and the second frame image are input into an inference model to obtain the moving direction of the first obstacle, including: inputting the speed of the vehicle, the first frame image, and the second frame image into an inference model to obtain the moving direction of the first obstacle, wherein the sample data set also includes the speed of the sample vehicle.

[0017] In some possible implementations, the output result of the inference model also includes the distance between the first obstacle and the intersection, wherein the sample data set also includes the distance between the sample obstacle and the intersection. Before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method also includes: determining that the distance between the first obstacle and the intersection is less than or equal to a preset distance.

[0018] In combination with the first aspect, in certain implementations of the first aspect, determining the moving direction of the first obstacle in the second road section based at least on the first frame image and the second frame image includes: determining the moving direction of the first obstacle based at least on the relative position relationship between the first obstacle and the first reference object in the first frame image, and the relative position relationship between the first obstacle and the first reference object in the second frame image.

[0019] The above information of the reflector may include information of the first reference object.

[0020] Based on the above technical solution, the direction of movement of the obstacle can be obtained by comparing the relative position relationship between the obstacle and the reference object in the two frames of images, which helps to reduce the safety risks when the vehicle passes through the intersection and also helps to improve the driving safety of users.

[0021] In combination with the first aspect, in certain implementations of the first aspect, before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method also includes: determining that the moving speed of the first obstacle is greater than or equal to a first preset speed based on at least the relative position relationship between the first obstacle and the first reference object in the first frame image, and the relative position relationship between the first obstacle and the first reference object in the second frame image.

[0022] Based on the above technical solution, the vehicle can also determine the speed of an obstacle based on the relative position of the obstacle relative to a reference object in two image frames. When the speed is greater than or equal to a first preset speed, the vehicle is controlled to slow down and yield to the obstacle, or a prompt device is controlled to prompt the user to slow down. This helps improve the accuracy of vehicle control when passing through intersections, helps reduce safety risks when passing through intersections, and also helps improve driving safety for users.

[0023] In some possible implementations, the method further includes: determining that the moving speed of the first obstacle is less than a first preset speed based at least on the relative positional relationship between the first obstacle and the first reference object in the first frame image, and the relative positional relationship between the first obstacle and the first reference object in the second frame image; when the vehicle is in an automatic driving state, controlling the vehicle to pass through the intersection according to a previously planned path (for example, a previously planned driving speed) or controlling the vehicle to accelerate through the intersection, or, when the vehicle is in a manually driven state, controlling the prompt device not to prompt the user or controlling the prompt device to prompt the user to accelerate through the intersection.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the intersection is located in an underground garage, and the first reference object includes at least one of a parking space line, other vehicles parked in the parking space, a pillar, and a wall.

[0025] In some possible implementations, the intersection is located in a mountainous area, and the first reference object includes a speed limit sign, a guardrail, etc.

[0026] In some possible implementations, the method further includes: determining the lane in which the first obstacle is located based on at least the first image; and controlling the vehicle to yield to the first obstacle, including: controlling the vehicle to decelerate according to a first deceleration when the lane in which the first obstacle is located is the same lane as the lane in which the vehicle is located; or controlling the vehicle to decelerate according to a second deceleration when the lane in which the first obstacle is located is different from the lane in which the vehicle is located; wherein the first deceleration is greater than the second deceleration.

[0027] Based on the above technical solution, the vehicle can further determine the lane where the obstacle is located through the information from the reflector. For example, the lane in the underground garage is a two-way single lane, and the vehicle can further determine whether the lane where the obstacle is located is the same as the lane where the vehicle is located through the information from the reflector. If the lane where the obstacle is located is the same as the lane where the vehicle is located, it can be determined that the obstacle is traveling in the opposite direction. At this time, the risk of collision between the vehicle and the obstacle is greater. The vehicle can control the vehicle to decelerate at a larger deceleration rate, which helps to reduce the safety risk of the vehicle when passing through the intersection and also helps to improve the driving safety of the user. If the lane where the obstacle is located is different from the lane where the vehicle is located, it can be determined that the obstacle is not traveling in the opposite direction. At this time, the vehicle can control the vehicle to decelerate and give way at a smaller deceleration rate, which helps to improve the driving comfort of the user.

[0028] In combination with the first aspect, in certain implementations of the first aspect, before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method also includes: obtaining a third frame image and a fourth frame image captured by the second camera in the vehicle, the acquisition time of the third frame image is later than the acquisition time of the fourth frame image, the third frame image and the fourth frame image include information of a first area in the intersection, the first area includes a first sub-area and a second sub-area, and the light intensity of the first sub-area is greater than the light intensity of the second sub-area; determining that the area of ​​the first sub-area in the third frame image is greater than the area of ​​the first sub-area in the fourth frame image, or determining that the area of ​​the second sub-area in the third frame image is smaller than the area of ​​the second sub-area in the fourth frame image.

[0029] Based on the above technical solution, the accuracy of judging whether an obstacle is moving towards the intersection can be further improved by observing the changes in light in the first area at the intersection, which helps reduce the safety risks of vehicles passing through the intersection and also helps improve the driving safety of users.

[0030] The first sub-region mentioned above may be referred to as a bright region, and the second sub-region may also be referred to as a dark region.

[0031] In combination with the first aspect, in certain implementations of the first aspect, before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method also includes: determining that the light intensity of the first sub-area in the third frame image is greater than the light intensity of the first sub-area in the fourth frame image.

[0032] Based on the above technical solution, by further combining the changes in light intensity in bright areas, the accuracy of judging whether an obstacle is moving towards an intersection can be improved, thereby helping to improve the accuracy of vehicle control.

[0033] In combination with the first aspect, in certain implementations of the first aspect, the dividing line between the first sub-area and the second sub-area is the first dividing line. Before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method also includes: determining, at least based on the third frame image and the fourth frame image, that the rotation speed of the first dividing line around the preset point is greater than or equal to the second preset speed.

[0034] Based on this technical solution, the speed at which an obstacle is moving toward an intersection can be determined by the rotational speed of the dividing line between the bright and dark areas. If the obstacle is determined to be moving too fast, the vehicle can be decelerated or a warning device can be used to prompt the user to slow down. This helps improve the accuracy of vehicle control when passing through intersections, reduces safety risks when passing through intersections, and improves driving safety for users.

[0035] In combination with the first aspect, in certain implementations of the first aspect, before determining the moving direction of the first obstacle in the second road section based at least on the first frame image and the second frame image, the method further includes: determining an obstacle of a preset type from the information of the reflector, the obstacle of the preset type including the first obstacle.

[0036] Based on the above technical solution, obstacles of a preset type can be screened out from multiple obstacles through the information of the reflector, and then the moving direction of the obstacles of the preset type can be determined, which helps to reduce the computing overhead of the vehicle.

[0037] In a second aspect, a vehicle control method is provided, the method comprising: acquiring a second image captured by a second camera in a vehicle on a first road section, the second image including an image of a first area at an intersection, the first area including a first sub-area and a second sub-area, the light intensity of the first sub-area being greater than the light intensity of the second sub-area; determining a moving direction of a first obstacle in the second road section based on light changes in the first area, the intersection being the intersection of the first route and the second route; and controlling the vehicle based on the moving direction of the first obstacle.

[0038] Based on the above technical solution, the light changes in the first area at the intersection can be used to predict the movement direction of obstacles in the second section. This can determine whether the vehicle should pass through the intersection normally or slow down to yield to the first obstacle. This helps reduce safety risks when passing through the intersection and also helps improve driving safety for users. Furthermore, when the vehicle is in autonomous driving mode, the light changes in the first area are determined based on images collected by the camera and the output of the decision results. This can make the vehicle's decision-making more human-like and help improve the vehicle's intelligence.

[0039] The first sub-region mentioned above may be referred to as a bright region, and the second sub-region may also be referred to as a dark region.

[0040] In some possible implementations, the first vehicle is located in a first road section, and the first sub-area and the second sub-area in the first area are generated by illumination of a lamp of a first obstacle in a second road section.

[0041] In some possible implementations, the length of the first area is half the width of the first road section, and the width of the first area is a preset width (for example, 5 meters).

[0042] In combination with the second aspect, in certain implementations of the second aspect, the second image includes a third frame image and a fourth frame image, the third frame image is acquired later than the fourth frame image, and the moving direction of the first obstacle in the second road section is determined based at least on the light changes in the first area, including: when the area of ​​the first sub-area in the third frame image is larger than the area of ​​the first sub-area in the fourth frame image, or the area of ​​the second sub-area in the third frame image is smaller than the area of ​​the second sub-area in the fourth frame image, it is determined that the first obstacle is moving toward the intersection; wherein, controlling the vehicle includes: controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down.

[0043] Based on the above technical solution, when the area of ​​the bright area gradually increases or the area of ​​the dark area gradually decreases, it can be determined that the first obstacle is moving toward the intersection. In this way, by slowing down to yield to the obstacle or controlling the prompt device to prompt the user to slow down, it helps reduce safety risks when the vehicle passes through the intersection and also helps improve driving safety for users.

[0044] In combination with the second aspect, in certain implementations of the second aspect, the method further includes: before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, determining that the light intensity of the first sub-area in the third frame image is greater than the light intensity of the first sub-area in the fourth frame image.

[0045] Based on the above technical solution, by further combining the changes in light intensity in bright areas, the accuracy of judging whether an obstacle is moving towards an intersection can be improved, thereby helping to improve the accuracy of vehicle control.

[0046] In combination with the second aspect, in certain implementations of the second aspect, the dividing line between the first sub-area and the second sub-area is the first dividing line, and before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method also includes: determining, at least based on the third frame image and the fourth frame image, that the rotation speed of the first dividing line around the preset point is greater than or equal to the second preset speed.

[0047] Based on this technical solution, the speed at which an obstacle is moving toward an intersection can be determined by the rotational speed of the dividing line between the bright and dark areas. If the obstacle is determined to be moving too fast, the vehicle can be decelerated or a warning device can be used to prompt the user to slow down. This helps improve the accuracy of vehicle control when passing through intersections, reduces safety risks when passing through intersections, and improves driving safety for users.

[0048] In a third aspect, a control device is provided, which includes: an acquisition unit for acquiring a first image captured by a first camera in a vehicle, the first image including information of a reflective mirror in an intersection, the intersection being an intersection of a first road section and a second road section, the vehicle being located in the first road section, and the reflective mirror being used to reflect obstacles in the second road section; a control unit for controlling the vehicle at least based on the first image.

[0049] In combination with the third aspect, in certain implementations of the third aspect, the first image includes a first frame image and a second frame image, and the device also includes: a first determination unit, used to determine the moving direction of the first obstacle in the second road section based at least on the first frame image and the second frame image; wherein the control unit is used to: when the moving direction indicates that the first obstacle is moving toward the intersection, control the vehicle to give way to the first obstacle, or control the prompt device to prompt the user to slow down.

[0050] In combination with the third aspect, in certain implementations of the third aspect, the first determination unit is used to: determine the moving direction of the first obstacle based at least on the relative position relationship between the first obstacle and the first reference object in the first frame image, and the relative position relationship between the first obstacle and the first reference object in the second frame image.

[0051] In combination with the third aspect, in certain implementations of the third aspect, the first determination unit is further used to: before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down, determine that the moving speed of the first obstacle is greater than or equal to the first preset speed based on at least the relative position relationship between the first obstacle and the first reference object in the first frame image, and the relative position relationship between the first obstacle and the first reference object in the second frame image.

[0052] In combination with the third aspect, in certain implementations of the third aspect, the intersection is located in an underground garage, and the first reference object includes at least one of a parking space line, other vehicles parked in the parking space, and a pillar.

[0053] In combination with the third aspect, in certain implementations of the third aspect, the device also includes a second determination unit, and the acquisition unit is further used to acquire a third frame image and a fourth frame image captured by the second camera in the vehicle before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down, wherein the acquisition time of the third frame image is later than the acquisition time of the fourth frame image, and the third frame image and the fourth frame image include information of a first area in the intersection, the first area includes a first sub-area and a second sub-area, and the light intensity of the first sub-area is greater than the light intensity of the second sub-area; the second determination unit is used to determine that the area of ​​the first sub-area in the third frame image is larger than the area of ​​the first sub-area in the fourth frame image, or to determine that the area of ​​the second sub-area in the third frame image is smaller than the area of ​​the second sub-area in the fourth frame image.

[0054] In combination with the third aspect, in certain implementations of the third aspect, the second determination unit is also used to determine that the light intensity of the first sub-area in the third frame image is greater than the light intensity of the first sub-area in the fourth frame image before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down.

[0055] In combination with the third aspect, in certain implementations of the third aspect, the dividing line between the first sub-area and the second sub-area is the first dividing line, and the second determination unit is further used to determine, at least based on the third frame image and the fourth frame image, that the rotation speed of the first dividing line around the preset point is greater than or equal to the second preset speed before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down.

[0056] In combination with the third aspect, in certain implementations of the third aspect, the first determination unit is further used to determine a preset type of obstacle from the information of the reflector before determining the moving direction of the first obstacle, and the preset type of obstacle includes the first obstacle.

[0057] In a fourth aspect, a control device is provided, the method including: an acquisition unit for acquiring a second image captured by a second camera in a vehicle on a first road section, the second image including an image of a first area at an intersection, the first area including a first sub-area and a second sub-area, the light intensity of the first sub-area being greater than the light intensity of the second sub-area; a determination unit for determining a moving direction of a first obstacle in the second road section based at least on light changes in the first area, the intersection being the intersection of the first route and the second route; and a control unit for controlling the vehicle based at least on the moving direction of the first obstacle.

[0058] In combination with the fourth aspect, in certain implementations of the fourth aspect, the second image includes a third frame image and a fourth frame image, and the acquisition time of the third frame image is later than the acquisition time of the fourth frame image. The determination unit is used to: determine that the first obstacle is moving toward the intersection when the area of ​​the first sub-area in the third frame image is larger than the area of ​​the first sub-area in the fourth frame image, or the area of ​​the second sub-area in the third frame image is smaller than the area of ​​the second sub-area in the fourth frame image; wherein the control unit is used to: control the vehicle to give way to the first obstacle, or control the prompt device to prompt the user to slow down.

[0059] In combination with the fourth aspect, in certain implementations of the fourth aspect, the determination unit is further used to: before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down, determine that the light intensity of the first sub-area in the third frame image is greater than the light intensity of the first sub-area in the fourth frame image.

[0060] In combination with the fourth aspect, in certain implementations of the fourth aspect, the dividing line between the first sub-area and the second sub-area is the first dividing line, and the determination unit is further used to: before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down, determine that the rotation speed of the first dividing line around the preset point is greater than or equal to the second preset speed, at least based on the third frame image and the fourth frame image.

[0061] In a fifth aspect, a control device is provided, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes any possible vehicle control method in the first aspect or the second aspect.

[0062] In a sixth aspect, the present application provides a control system comprising a camera and a computing platform, wherein the computing platform comprises any possible control device in the third aspect, or comprises the control device described in the fourth aspect, or comprises the control device described in the fifth aspect.

[0063] In a seventh aspect, the present application provides a vehicle comprising any possible control device in the third aspect, or comprising the control device described in the fourth aspect, or comprising the control device described in the fifth aspect, or comprising the control system described in the sixth aspect.

[0064] In an eighth aspect, the present application provides a server comprising any possible control device in the third aspect, the fourth aspect or the fifth aspect.

[0065] In a ninth aspect, the present application provides a computer program product, which includes: a computer program code, which, when executed on a computer, enables the computer to execute any possible vehicle control method in the first or second aspect.

[0066] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or separately packaged with the processor, and the embodiments of the present application do not specifically limit this.

[0067] In the tenth aspect, the present application provides a computer-readable medium, which stores a program code. When the computer program code runs on a computer, the computer executes any possible vehicle control method in the first aspect or the second aspect mentioned above.

[0068] In an eleventh aspect, the present application provides a chip comprising a circuit for executing any possible vehicle control method in the first or second aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] FIG1 is a functional block diagram of a vehicle provided in an embodiment of the present application.

[0070] FIG2 is a schematic diagram of an application scenario provided in an embodiment of the present application.

[0071] FIG3 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0072] FIG4 is another schematic diagram of an application scenario provided by an embodiment of the present application.

[0073] FIG. 5 shows the positional relationship between the vehicle 2 and the pillar in the reflector information of different images provided by an embodiment of the present application.

[0074] FIG6 is another schematic flowchart of the vehicle control method provided in an embodiment of the present application.

[0075] FIG7 is another schematic diagram of an application scenario provided by an embodiment of the present application.

[0076] FIG8 is another schematic flowchart of the vehicle control method provided in an embodiment of the present application.

[0077] FIG9 is another schematic flowchart of the vehicle control method provided in an embodiment of the present application.

[0078] FIG10 is a schematic block diagram of a control device provided in an embodiment of the present application.

[0079] FIG11 is another schematic block diagram of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0080] The technical solution in this application will be described below with reference to the accompanying drawings.

[0081] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. 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 only a way to describe the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. "At least one" means one or more. For example, "at least one of A and B" is similar to "A and / or B", describing the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, at least one of A and B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0082] In the embodiments of the present 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 to distinguish description objects in the embodiments of the present application does not constitute a restriction on the described objects. For the 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 restriction. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0083] Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of the present application. The vehicle 100 may include a perception system 110 and a computing platform 120, wherein the perception system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 110 may include one or more collision sensors. For another example, the perception system 110 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 110 may include one or more of an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0084] Some or all functions of the vehicle 100 may be controlled by a computing platform 120. The computing platform 120 may include one or more processors, such as processors 121 to 12n (n is a positive integer). 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 a hardware circuit. The logical relationships of the hardware circuit 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 120 may also include a memory for storing instructions, and some or all of the processors 121 to 12n may call the instructions in the memory to implement corresponding functions.

[0085] The vehicle in this application is a vehicle in a broad sense, which can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawn mowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle.

[0086] Currently, vehicles can identify interacting vehicles at intersections using data collected by sensors such as cameras, millimeter-wave radar, and lidar, enabling them to slow down and yield. However, at blind spot intersections, obstacles (such as pillars and walls) can block the data collected by these sensors, preventing them from identifying interaction risks in advance, potentially leading to collisions with interacting vehicles at intersections.

[0087] For example, Figure 2 shows a schematic diagram of an application scenario provided by an embodiment of the present application. When a vehicle passes through an intersection, due to the presence of obstacles (e.g., walls), the data collected by the vehicle's sensors (e.g., cameras, lidar, millimeter-wave radar, etc.) cannot identify information about obstacles in the blind spot in advance, which may lead to safety accidents.

[0088] The present application provides a vehicle control method, device, and vehicle, which help reduce safety risks when meeting other vehicles at intersections and also help improve user driving safety.

[0089] FIG3 shows a schematic flow chart of a vehicle control method 300 provided in an embodiment of the present application. As shown in FIG3 , the method 300 includes:

[0090] S310, obtaining image data collected by a camera in the vehicle.

[0091] Exemplarily, the image data may include multiple frames of images or videos.

[0092] In one embodiment, before obtaining image data captured by a camera in the vehicle, the method 300 further includes: determining that the distance between the vehicle and the intersection is less than or equal to a preset distance.

[0093] Exemplarily, the preset distance may be 20 meters.

[0094] S320, obtaining information of a reflector at an intersection through the image data detection, where the intersection is an intersection of a first road section and a second road section, the vehicle is located at the first road section, and the reflector is used to reflect obstacles in the second road section.

[0095] For example, FIG4 shows another schematic diagram of an application scenario provided by an embodiment of the present application.

[0096] Vehicle 1 can use a front-facing camera (e.g., a camera on the roof) to collect image data of intersection 1, which includes information about the reflectors. Vehicle 1 can be located on road section 1, and vehicle 2 can be located on road section 2. The intersection of road sections 1 and 2 is intersection 1. Vehicle 1 can use image data including the reflectors to identify obstacles in road section 2.

[0097] The information of the reflector in the above intersection may include the information of the road section 2 emitted by the reflector.

[0098] S330: Determine whether there is an obstacle of a preset type in the second road section at least based on the information from the reflector.

[0099] For example, taking the intersection as being located in an underground garage, the preset types of obstacles include vehicles, motorcycles, bicycles, or pedestrians.

[0100] For example, taking the intersection as being located in a mountainous area, the preset types of obstacles include vehicles, motorcycles, bicycles, pedestrians, and stationary obstacles (eg, falling rocks, cones, water barriers, etc.).

[0101] When it is determined that there is no obstacle of the preset type in the second road section, S360 may be executed, ie, the vehicle passes through the intersection normally. When it is determined that there is an obstacle of the preset type in the second road section, S340 may be executed.

[0102] S340: Determine whether the obstacle of the preset type moves toward the intersection based at least on the image data.

[0103] When it is determined that the obstacle of the preset type is moving toward the intersection, execute S350; otherwise, execute S360.

[0104] In one embodiment, determining whether the obstacle of the preset type moves toward the intersection based at least on the image data includes: determining whether the obstacle of the preset type moves toward the intersection based at least on at least two frames of images in the image data.

[0105] For example, the at least two frames of images include a first frame of image and a second frame of image. The vehicle can determine a first relative position relationship between an obstacle of a preset type and a reference object based on information from a reflector in the first frame of image, and determine a second relative position relationship between an obstacle of a preset type and a reference object based on information from a reflector in the second frame of image; the vehicle can determine whether an obstacle of a preset type moves toward the intersection based at least on the first relative position relationship and the second relative position relationship.

[0106] As shown in Figure 4, taking vehicle 1 in an underground garage as an example, the preset obstacle type may be vehicle 2. Vehicle 1 can determine the direction of movement of vehicle 2 based on at least two frames of image data captured by the camera. For example, at time T1, the vehicle captures image 1 through the camera and captures image 2 at time T2, which is later than time T1.

[0107] Figure 5 illustrates the positional relationship between vehicle 2 and a pillar in the reflector information from different images provided by embodiments of the present application. As shown in Figure 5(a), taking the pillar as the reference object, vehicle 1 can extract reflector information from image 1 and, based on at least this reflector information, determine the relative positional relationship between vehicle 2 and the pillar, such as whether the front of vehicle 2 (e.g., the front bumper of vehicle 2) is aligned with the side of the pillar.

[0108] As shown in (b) of Figure 5, vehicle 1 can extract the information of the reflector through image 2, and at least based on the information of the reflector, the relative position relationship between vehicle 2 and the pillar can be determined, such as the rear position of vehicle 2 (for example, the rear bumper of vehicle 2) is aligned with the side of the pillar.

[0109] By analyzing the information of the reflective mirrors in the different frames of the image, and obtaining the relative positional relationship between the vehicle 2 and the pillar, it can be determined that the vehicle 2 is moving toward the intersection.

[0110] S350: Control the vehicle to decelerate, and / or control the prompting device to prompt the driver to decelerate.

[0111] For example, when vehicle 1 is in an automatic driving state (for example, the vehicle has the automated valet parking (AVP) function turned on), the vehicle can control the vehicle to decelerate, thereby giving way to vehicle 2.

[0112] For example, when vehicle 1 is in manual driving state, vehicle 1 can control the prompt device to prompt the user to slow down. For example, vehicle 1 can control the display screen (e.g., instrument screen) to display the prompt message "Another vehicle is detected moving towards the intersection, please slow down and give way." For another example, vehicle 1 can control the speaker to emit a prompt sound "A blind spot vehicle is detected moving towards the intersection, please slow down and give way." For another example, vehicle 1 can control the color of the ambient light in the cabin to be red. For another example, vehicle 1 can control the steering wheel to vibrate.

[0113] In one embodiment, the method 300 further includes: determining a moving speed of an obstacle of a preset type toward the intersection based at least on the image data; and controlling the vehicle based on the moving speed.

[0114] In one embodiment, taking the case where the vehicle is in an automatic driving state as an example, when it is determined that the preset type of obstacle is moving toward the intersection, the method 300 further includes: determining the moving speed of the preset type of obstacle toward the intersection based on at least two frames of images in the image data; when the moving speed is greater than or equal to a first preset speed, controlling the vehicle to slow down and give way and / or controlling the prompt device to prompt the driver to slow down; or, when the moving speed is less than the first preset speed, controlling the vehicle to rush through the intersection.

[0115] Exemplarily, the first preset speed may be 6 km / h.

[0116] Exemplarily, the vehicle can determine the speed at which a preset type of obstacle moves toward the intersection based on the first relative position relationship and the second relative position relationship. As shown in (a) and (b) in Figure 5, vehicle 1 can determine that the type of obstacle traveling on road section 2 is a vehicle through the information from the reflector, and thus can determine that its length is 4.8 meters. As shown in (a) in Figure 5, the front bumper of vehicle 2 is on the same horizontal plane as the side of the pillar. As shown in (b) in Figure 5, the rear bumper of vehicle 2 is on the same horizontal plane as the side of the pillar. Vehicle 1 can determine that vehicle 2 has moved 4.8 meters toward the intersection during the time from when the camera captures image 1 to when the camera captures image 2.

[0117] For example, Table 1 shows information on the lengths of different types of obstacles.

[0118] Table 1

[0119] For example, if the time between capturing image 1 and image 2 by the camera is 1 second, vehicle 1 can determine that vehicle 2 is traveling at 17.28 km / h. Since vehicle 2 is traveling at a speed greater than 6 km / h, vehicle 1 can control vehicle 1 to slow down and yield and / or control a warning device to prompt the driver to slow down.

[0120] For example, if the time between the camera capturing image 1 and image 2 is 3 seconds, then vehicle 1 can determine that the speed of vehicle 2 is 5.76 km / h. Since the speed of vehicle 2 is less than 6 km / h, vehicle 1 can control vehicle 1 to pass through the intersection normally or rush through the intersection, or vehicle 1 can control the prompt device to prompt the user to pass through the intersection quickly. For example, vehicle 1 can control the display screen to prompt the user "A vehicle in the blind spot is detected to be giving way, please pass through the intersection as soon as possible." For another example, vehicle 1 can control the speaker to emit a prompt sound "A vehicle in the blind spot is detected to be giving way, please pass through the intersection as soon as possible."

[0121] In one embodiment, when determining that the preset type of obstacle is moving toward the intersection, the vehicle can input the at least two frames of images into an inference model to obtain a result of whether the preset type of obstacle is moving toward the intersection; wherein, the inference model is trained by a sample training set, and the sample training set includes images including reflectors captured by the camera of the sample vehicle and the moving direction of the sample obstacle.

[0122] In one embodiment, when determining that the preset type of obstacle is moving toward the intersection, the vehicle can input the vehicle's speed and the at least two frames of images into an inference model to obtain the moving direction and moving speed of the preset type of obstacle; wherein the inference model is trained by a sample training set, and the sample training set includes the moving speed of the sample vehicle, the image including the reflector captured by the camera of the sample vehicle, the moving direction of the sample obstacle, and the moving speed of the sample obstacle.

[0123] Exemplarily, during the model training phase, the sample training set includes images captured by a camera when a sample vehicle moves toward an intersection at a certain speed, and the images are labeled with the moving direction and speed of the sample obstacle. For example, the sample data set includes images captured by the camera of the sample vehicle when the sample vehicle moves toward an intersection at a speed of 15 km / h. The images can be labeled with information that the sample obstacle moves toward the intersection and the speed of the sample obstacle is 10 km / h; the sample training set also includes images captured by the camera of the sample vehicle when the sample vehicle moves toward an intersection at a speed of 15 km / h. The images can be labeled with information that the sample obstacle moves toward the intersection and the speed of the sample obstacle is 15 km / h; the sample training set also includes images captured by the camera of the sample vehicle when the sample vehicle moves toward an intersection at a speed of 15 km / h. The images can be labeled with information that the sample obstacle moves toward the intersection and the speed of the sample obstacle is 20 km / h, etc. The inference model can be trained using the above sample training data sets. During the model inference phase, vehicle 1 may input the average speed of vehicle 1 from time T1 to T2 and the image captured by the camera from time T1 to T2 into the inference model to obtain the speed of vehicle 2.

[0124] The above-mentioned sample vehicle driving speed may be an average speed of the sample vehicle during the process of the camera capturing images, and the speed of the sample obstacle may be an average speed of the sample vehicle during the process of the camera capturing images.

[0125] In one embodiment, the vehicle may input the at least two frames of images and the vehicle's speed into an inference model to determine the speed of the preset obstacle type moving toward the intersection and the distance between the preset obstacle type and the intersection. The sample training dataset also includes the distance between the sample obstacle and the intersection. The vehicle may then control the vehicle based on the vehicle's speed, the distance between the vehicle and the intersection, the speed of the preset obstacle type, and the distance between the preset obstacle type and the intersection.

[0126] In one embodiment, when the time difference between a first time duration determined based on the moving speed of the preset type of obstacle and the distance between the preset type of obstacle and the intersection and a second time duration determined based on the moving speed of the vehicle and the distance between the vehicle and the intersection is less than or equal to a preset difference, the vehicle is controlled to slow down and give way and / or the prompt device is controlled to prompt the driver to slow down.

[0127] In the above model training phase, the loss function of the model can be a regression loss function such as the mean squared error loss function (MSE); or, the loss function can be a classification loss function such as the cross entropy loss function.

[0128] The above models can be neural networks (NN), such as transformer, multi-layer perceptron (MLP), residual neural network (ResNet), recurrent neural network (RNN); or they can be other machine learning algorithms, such as support vector machine (SVM) or decision tree.

[0129] S360: Control vehicles to pass through the intersection normally.

[0130] For example, if the vehicle is in automatic driving mode (for example, the AVP function is turned on), the vehicle can continue to drive according to the planned path and park in the target parking space; for example, if the vehicle is in manual driving mode, the vehicle may not prompt the user.

[0131] FIG6 shows a schematic flow chart of a vehicle control method 600 provided in an embodiment of the present application. As shown in FIG6 , the method 600 includes:

[0132] S610: Acquire image data collected by a camera in a vehicle, where the image data includes an image of an intersection.

[0133] The above S610 can refer to the description in the above S310 and will not be repeated here.

[0134] S620: Determine an observation area based at least on the image data.

[0135] For example, FIG7 shows another schematic diagram of an application scenario provided by an embodiment of the present application.

[0136] As shown in (a) of Figure 7, vehicle 1 captures an image including intersection 1 at time T3. Intersection 1 is the intersection of section 1 and section 2. For example, intersection 1 formed by section 1 and section 2 is a rectangular area ABCD. The observation area can be a rectangular area EFGH. The length of side EF is half the width of the intersection (for example, 3.5 meters), and the length of side FG is a preset length (for example, 5 meters). Side EF in rectangular area EFGH coincides with side CD in intersection 1 close to section 1. Due to the illumination of the headlights of blind spot obstacles (for example, vehicle 2), bright areas and dark areas can be formed in the rectangular area EFGH. The light intensity of the bright area is greater than the light intensity of the dark area. The boundary between the bright area and the dark area is FO, S 亮 is the area of ​​the bright area, S 暗 is the area of ​​the dark area. At time T3, S 亮 is the area of ​​the triangle FEO.

[0137] S630, determine S in the observation area 亮 Is the area gradually increasing?

[0138] If the S 亮 If the area gradually increases, the vehicle executes S640; otherwise, the vehicle executes S650.

[0139] As shown in Figure 7(b), vehicle 1 captures an image including intersection 1 at time T4, which is later than time T3. As the blind spot obstacle moves toward the intersection, the boundary between the bright and dark areas changes from FO to FO'. At this time, S 亮 It can be seen that the area of ​​the bright area at time T4 is larger than the area of ​​the bright area at time T3, so that the vehicle 1 can determine that the blind spot obstacle is moving towards the intersection.

[0140] In the above S630, it is determined that 亮 The area of ​​S is gradually increasing, and the embodiment of the present application is not limited thereto. For example, the vehicle 1 can also determine whether S 暗 Whether the area of ​​​​S is gradually decreasing. 暗 If the area gradually increases, the vehicle executes S640; otherwise, the vehicle executes S650.

[0141] S640: Control the vehicle to decelerate, and / or control the prompting device to prompt the user to decelerate.

[0142] For example, when vehicle 1 is in an automatic driving state (for example, the vehicle has the AVP function turned on), the vehicle can control the vehicle to slow down, thereby giving way to vehicle 2.

[0143] In one embodiment, before controlling the vehicle to decelerate and / or controlling the prompting device to prompt the user to decelerate, the method 600 further includes: determining that the illumination intensity of the bright area gradually increases.

[0144] S650: Control the vehicle to pass through the intersection normally.

[0145] For example, if the vehicle is in automatic driving mode (for example, the AVP function is turned on), the vehicle can continue to drive according to the planned path and park in the target parking space; for example, if the vehicle is in manual driving mode, the vehicle may not prompt the user.

[0146] In the above method 600, S is determined. 亮 While this example illustrates the gradual increase in the area of ​​rectangular area EFGH to determine that an obstacle is moving toward the intersection, the vehicle can be controlled to slow down and yield, or the prompt device can be controlled to prompt the user to slow down. The embodiments of the present application are not limited thereto. For example, the speed of the obstacle moving toward the intersection can be determined by the lighting conditions within rectangular area EFGH. When the speed is greater than or equal to a preset speed, the vehicle can be controlled to slow down and yield, and / or the prompt device can be controlled to prompt the user to slow down.

[0147] For example, in a basement with a two-way single lane (e.g., each lane is 3.5 meters wide), the relationship between the rotation speed (e.g., angular velocity) of the boundary line between the bright and dark areas about point F and a preset angular velocity threshold can be used to determine whether the obstacle is moving too fast. For example, if the angular velocity of the boundary line about point F is greater than or equal to 8 rad / s, it can be determined that the obstacle is moving too fast toward the intersection, and the vehicle can be controlled to slow down and yield, or a prompt device can be controlled to prompt the user to slow down.

[0148] FIG8 shows a schematic flow chart of a vehicle control method 800 provided in an embodiment of the present application. The method 800 includes:

[0149] S810, obtaining a first image captured by a first camera in a vehicle, where the first image includes information of a reflective mirror in an intersection, where the intersection is an intersection of a first road section and a second road section, the vehicle is located in the first road section, and the reflective mirror is used to reflect obstacles in the second road section.

[0150] Illustratively, as shown in FIG4 , the vehicle may be the aforementioned vehicle 1 , and the first road section may be the aforementioned road section 1 ; the obstacle may be the aforementioned vehicle 2 , and the second road section may be the aforementioned road section 2 .

[0151] S820: Control the vehicle at least based on the first image.

[0152] Optionally, controlling the vehicle at least based on the first image includes: determining that no obstacle of a preset type exists in the second road section at least based on information from the reflector; and controlling the vehicle to travel normally.

[0153] Optionally, controlling the vehicle at least based on the first image includes: determining, at least based on the information of the reflector, that there is an obstacle of a preset type in the second road section and that the moving direction of the obstacle of the preset type is not toward the intersection; and controlling the vehicle to drive normally.

[0154] The above-mentioned control of the normal driving of the vehicle may include: when the vehicle is in an automatic driving state, controlling the vehicle to continue driving according to the previously planned path; or, when the vehicle is in a manual driving state, controlling the vehicle not to prompt the user.

[0155] Optionally, the first image includes multiple frames of images, and controlling the vehicle at least based on the first image includes: determining the moving direction of the first obstacle in the second road section at least based on the multiple frames of images; when the moving direction indicates that the first obstacle is moving toward the intersection, controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down.

[0156] Optionally, determining the movement direction of the first obstacle in the second road segment based at least on the multiple image frames includes: inputting the multiple image frames into an inference model to obtain the movement direction of the first obstacle. The above inference model training and inference process can be referred to the description in the above embodiment and will not be repeated here.

[0157] Optionally, the multiple-frame images include a first frame image and a second frame image, and the moving direction of the first obstacle in the second road section is determined at least based on the multiple-frame images, including: determining the moving direction of the first obstacle based at least on the relative position relationship between the first obstacle and the first reference object in the first frame image, and the relative position relationship between the first obstacle and the first reference object in the second frame image.

[0158] The above information of the reflector includes the information of the first reference object.

[0159] For example, as shown in (a) and (b) of Figure 5 , the first reference object may be a pillar. By comparing the relative positional relationship between the vehicle 2 and the pillar in the two frames of image, it can be determined that the vehicle 2 is moving toward the intersection.

[0160] Optionally, before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method 800 also includes: determining that the moving speed of the first obstacle is greater than or equal to a first preset speed based on at least the relative position relationship between the first obstacle and the first reference object in the first frame image, and the relative position relationship between the first obstacle and the first reference object in the second frame image.

[0161] Exemplarily, the first preset speed is 6 km / h.

[0162] For example, as shown in (a) of FIG5 , the front bumper of vehicle 2 is on the same horizontal plane as one side of the pillar. As shown in (b) of FIG5 , the rear bumper of vehicle 2 is on the same horizontal plane as one side of the pillar. Vehicle 1 can determine that vehicle 2 has moved 4.8 meters toward the intersection from the time the camera captures image 1 to the time the camera captures image 2. If the time between the first camera capturing image 1 and image 2 is 1 second, then vehicle 1 can determine that the speed of vehicle 2 is 17.28 km / h. Since the speed of vehicle 2 is greater than 6 km / h, vehicle 1 can control vehicle 1 to slow down and yield and / or control the prompt device to prompt the driver to slow down.

[0163] Optionally, before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method 800 also includes: inputting the multiple frames of images into an inference model to obtain the moving speed of the first obstacle; and determining that the moving speed of the first obstacle is greater than or equal to a first preset speed.

[0164] Optionally, before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method 800 further includes: inputting the multiple frames of images into an inference model to obtain the moving direction of the first obstacle as moving toward the intersection, the moving speed of the first obstacle, and the distance between the first obstacle and the intersection; wherein, controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, includes: when the time difference between a first time length determined according to the moving speed of the preset type of obstacle and the distance between the preset type of obstacle and the intersection and a second time length determined according to the moving speed of the vehicle and the distance between the vehicle and the intersection is less than or equal to a preset difference, controlling the vehicle to slow down and / or controlling the prompt device to prompt the driver to slow down.

[0165] Exemplarily, the preset difference is 2 seconds.

[0166] Optionally, the intersection is located in an underground garage, and the first reference object includes at least one of a parking space line, other vehicles parked in the parking space, a pillar, and a wall.

[0167] Optionally, before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method 800 also includes: obtaining a third frame image and a fourth frame image captured by the second camera in the vehicle, the acquisition time of the third frame image is later than the acquisition time of the fourth frame image, the third frame image and the fourth frame image include information of a first area in the intersection, the first area includes a first sub-area and a second sub-area, and the light intensity of the first sub-area is greater than the light intensity of the second sub-area; determining that the area of ​​the first sub-area in the third frame image is greater than the area of ​​the first sub-area in the fourth frame image, or determining that the area of ​​the second sub-area in the third frame image is smaller than the area of ​​the second sub-area in the fourth frame image.

[0168] The first area may be the observation area in the above S620.

[0169] The first camera and the second camera may be the same camera. For example, both the first camera and the second camera are cameras located on the roof of the vehicle, or cameras located on the front bumper (or the air intake grille).

[0170] Alternatively, different cameras may be used. For example, the first camera may be a camera located on the roof, and the second camera may be a camera located on the front bumper (or, air intake grille).

[0171] For example, as shown in (a) of FIG7 , when vehicle 2 passes through an intersection, the illumination of vehicle 2's lamps will generate a rectangular area EFGH in the area in front of vehicle 1. The rectangular area EFGH includes a bright area and a dark area. As shown in (b) of FIG7 , vehicle 1 determines that the area of ​​the bright area in the next frame of image captured by the second camera is larger than the area of ​​the bright area in the previous frame of image, then it can be determined that the obstacle in road section 2 is moving toward the intersection. In this way, when it is determined that the obstacle is moving toward the intersection by combining the first image including the reflector and the second image including the first area, the vehicle can be controlled to slow down or the prompt device can be controlled to prompt the user to slow down, which helps to ensure the accuracy of vehicle control, helps to further reduce the safety risks when meeting at the intersection, and also helps to improve the driving safety of users.

[0172] Optionally, before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method 800 also includes: determining that the light intensity of the first sub-area in the third frame image is greater than the light intensity of the first sub-area in the fourth frame image.

[0173] For example, when the light intensity of the bright area shown in FIG. 7( b ) is greater than the light intensity of the bright area shown in FIG. 7( a ), the vehicle 1 may further determine that the obstacle is moving toward the intersection.

[0174] Optionally, the dividing line between the first sub-area and the second sub-area is the first dividing line, and before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method 800 also includes: determining, at least based on the third frame image and the fourth frame image, that the rotation speed of the first dividing line around the preset point is greater than or equal to the second preset speed.

[0175] Exemplarily, the preset point is point F shown in (a) and (b) in FIG7 above. The dividing line shown in (a) in FIG7 is FO, and the dividing line shown in (b) in FIG7 is FO'. The angular velocity of the dividing line rotating around point F can be determined by the angle at which the dividing line rotates around point F and the time length between the third frame image and the fourth frame image captured by the second camera. Exemplarily, if the angular velocity of the dividing line rotating around point F is 10 rad / s, it can be determined that the obstacle is moving too fast toward the intersection, and vehicle 1 can control vehicle 1 to slow down and give way or control the prompt device to prompt the user to slow down.

[0176] Optionally, before determining the moving direction of the first obstacle in the second road section at least based on the first frame image and the second frame image, the method further includes: determining obstacles of a preset type from the first image, the preset type of obstacles including the first obstacle.

[0177] FIG9 shows a schematic flow chart of a vehicle control method 900 provided in an embodiment of the present application. The method 900 includes:

[0178] S910, obtaining a second image captured by a second camera in a vehicle on a first road section, wherein the second image includes an image of a first area at an intersection, wherein the first area includes a first sub-area and a second sub-area, and the light intensity of the first sub-area is greater than the light intensity of the second sub-area.

[0179] The first sub-region mentioned above may be referred to as a bright region, and the second sub-region may also be referred to as a dark region.

[0180] Optionally, the first vehicle is in a first road section, and the first sub-area and the second sub-area in the first area are generated by illumination of a lamp of a first obstacle in a second road section.

[0181] Optionally, the length of the first area is half the width of the first road section (for example, 3.5 meters), and the width of the first area is a preset width (for example, 5 meters).

[0182] S920: Determine a moving direction of the first obstacle in the second road section at least based on a change in light in the first area, where the intersection is an intersection of the first route and the second route.

[0183] Optionally, determining the moving direction of the first obstacle in the second section based at least on changes in light in the first area includes determining that the first obstacle is moving toward the intersection when the light intensity generated by the obstacle's lamps in the first area gradually increases.

[0184] Optionally, the second image includes a third frame image and a fourth frame image, and the acquisition time of the third frame image is later than the acquisition time of the fourth frame image. The moving direction of the first obstacle in the second road section is determined at least based on the light change in the first area, including: when the area of ​​the first sub-area in the third frame image is larger than the area of ​​the first sub-area in the fourth frame image, or the area of ​​the second sub-area in the third frame image is smaller than the area of ​​the second sub-area in the fourth frame image, it is determined that the first obstacle moves toward the intersection.

[0185] Optionally, the moving direction of the first obstacle includes the first obstacle moving toward the intersection, the first obstacle being stationary, or the first obstacle moving away from the intersection.

[0186] S930: Control the vehicle at least according to the moving direction of the first obstacle.

[0187] Optionally, when the first obstacle moves toward the intersection, the vehicle is controlled at least according to the moving direction of the first obstacle, including: controlling the vehicle to give way to the first obstacle, or controlling a prompt device to prompt the user to slow down.

[0188] Optionally, the method 900 further includes: before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, determining that the light intensity of the first sub-area in the third frame image is greater than the light intensity of the first sub-area in the fourth frame image.

[0189] Optionally, the dividing line between the first sub-area and the second sub-area is the first dividing line, and before controlling the vehicle to give way to the first obstacle, or controlling the prompt device to prompt the user to slow down, the method 900 also includes: determining, at least based on the third frame image and the fourth frame image, that the rotation speed of the first dividing line around the preset point is greater than or equal to the second preset speed.

[0190] The above method 300, method 600, method 800 or method 900 can be performed by the vehicle 100 shown in Figure 1 above, or, the method 300, method 600, method 800 or method 900 can be performed by the above-mentioned computing platform 120, or, the method 300, method 600, method 800 or method 900 can be performed by a system consisting of the computing platform 120 and a camera, or, the method 300, method 600, method 800 or method 900 can be performed by the system-on-chip (SoC) in the above-mentioned computing platform 120, or, the method 300, method 600, method 800 or method 900 can be performed by the processor, circuit or chip in the computing platform 120, or, the method 300, method 600, method 800 or method 900 can be performed by a server.

[0191] The above method 300, method 600, method 800 or method 900 may be independent embodiments, or the method 300, method 600, method 800 or method 900 may be combined with each other.

[0192] For example, when it is determined that an obstacle is moving toward an intersection through the information of the reflector in the image captured by the camera and the area change of the bright area in the observation area, the vehicle can be controlled to slow down and give way, or the prompt device can be controlled to prompt the user to slow down.

[0193] For another example, when the information from the reflector in the image captured by the camera determines that an obstacle is moving toward the intersection and the information from the reflector in the image captured by the camera determines that the moving speed of the obstacle is greater than or equal to a first preset speed, and the image captured by the camera determines that the area of ​​the bright area in the observation area is gradually increasing, the vehicle can be controlled to slow down and give way, or the prompt device can be controlled to prompt the user to slow down.

[0194] For another example, when the information from the reflector in the image captured by the camera determines that an obstacle is moving toward the intersection and the image captured by the camera determines that the area of ​​the bright area in the observation area is gradually increasing and the rotation speed of the interface between the bright area and the dark area around point F is greater than or equal to a second preset speed, the vehicle can be controlled to slow down and give way, or the prompt device can be controlled to prompt the user to slow down.

[0195] Figure 10 shows a schematic block diagram of a control device 1000 provided in an embodiment of the present application. As shown in Figure 10, the device 1000 includes: an acquisition unit 1010, configured to acquire a first image captured by a first camera in a vehicle, the first image including information about a reflective mirror at an intersection where a first road section and a second road section intersect, the vehicle is located on the first road section, and the reflective mirror is configured to reflect obstacles in the second road section; and a control unit 1020, configured to control the vehicle based at least on the first image.

[0196] Optionally, the first image includes a first frame image and a second frame image, and the device 1000 further includes: a first determination unit, used to determine the moving direction of the first obstacle in the second road section based at least on the first frame image and the second frame image; wherein the control unit 1020 is used to: when the moving direction indicates that the first obstacle is moving toward the intersection, control the vehicle to give way to the first obstacle, or control the prompt device to prompt the user to slow down.

[0197] Optionally, the first determination unit is used to determine the moving direction of the first obstacle based at least on the relative position relationship between the first obstacle and the first reference object in the first frame image and the relative position relationship between the first obstacle and the first reference object in the second frame image.

[0198] Optionally, the first determination unit is further used to: before the control unit 1020 controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down, determine that the moving speed of the first obstacle is greater than or equal to a first preset speed based on at least the relative position relationship between the first obstacle and the first reference object in the first frame image, and the relative position relationship between the first obstacle and the first reference object in the second frame image.

[0199] Optionally, the intersection is located in an underground garage, and the first reference object includes at least one of a parking space line, other vehicles parked in the parking space, and a pillar.

[0200] Optionally, the device also includes a second determination unit. The acquisition unit 1010 is also used to acquire a third frame image and a fourth frame image captured by the second camera in the vehicle before the control unit 1020 controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down. The acquisition time of the third frame image is later than the acquisition time of the fourth frame image. The third frame image and the fourth frame image include information of a first area in the intersection, the first area includes a first sub-area and a second sub-area, and the light intensity of the first sub-area is greater than the light intensity of the second sub-area; the second determination unit is used to determine that the area of ​​the first sub-area in the third frame image is larger than the area of ​​the first sub-area in the fourth frame image, or to determine that the area of ​​the second sub-area in the third frame image is smaller than the area of ​​the second sub-area in the fourth frame image.

[0201] Optionally, the second determination unit is also used to determine that the light intensity of the first sub-area in the third frame image is greater than the light intensity of the first sub-area in the fourth frame image before the control unit 1020 controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down.

[0202] Optionally, the dividing line between the first sub-area and the second sub-area is the first dividing line, and the second determination unit is further used to determine that the rotation speed of the first dividing line around the preset point is greater than or equal to the second preset speed, at least based on the third frame image and the fourth frame image, before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down.

[0203] Optionally, the first determining unit is further configured to determine, before determining the moving direction of the first obstacle, an obstacle of a preset type from the first image, where the obstacles of the preset type include the first obstacle.

[0204] For example, the acquisition unit 1010 may be the computing platform in FIG1 or a processing circuit, processor, or controller in the computing platform. For example, if the acquisition unit 1010 is the processor 121 in the computing platform, the processor 121 may acquire a first image captured by a first camera, or the processor 121 may acquire a second image captured by a second camera.

[0205] For another example, control unit 1020 may be the computing platform shown in Figure 1 or a processing circuit, processor, or controller within the computing platform. For example, if control unit 1020 is processor 122 within the computing platform, processor 122 may acquire images captured by processor 121 and control the vehicle. For example, processor 122 may determine whether a preset type of obstacle exists in the second road section based on images captured by processor 121, including the reflective mirror. For another example, processor 122 may determine the speed at which a preset type of obstacle is moving toward an intersection and the distance between the preset type of obstacle and the intersection based on images captured by processor 121, including the reflective mirror. For another example, if processor 122 determines that an obstacle is moving toward an intersection based on images captured by processor 121, including the reflective mirror, it may send a command to the braking device, instructing the braking device to decelerate the vehicle. Alternatively, processor 122 may control the display screen to display a prompt message, prompting the user to decelerate.

[0206] The functions implemented by the above-mentioned acquisition unit 1010 and the functions implemented by the control unit 1020 can be implemented by different processors respectively, or all functions can be implemented by the same processor, which is not limited in the embodiment of the present application.

[0207] Figure 11 shows a schematic block diagram of a control device 1100 provided in an embodiment of the present application, wherein the device 1100 includes: an acquisition unit 1110, configured to acquire a second image captured by a second camera in a vehicle on a first road section, wherein the second image includes an image of a first area at an intersection, wherein the first area includes a first sub-area and a second sub-area, and the illumination intensity of the first sub-area is greater than the illumination intensity of the second sub-area; a determination unit 1120, configured to determine a moving direction of a first obstacle in the second road section based at least on light changes in the first area, wherein the intersection is an intersection of the first route and the second route; and a control unit 1130, configured to control the vehicle based at least on the moving direction of the first obstacle.

[0208] Optionally, the second image includes a third frame image and a fourth frame image, and the acquisition time of the third frame image is later than the acquisition time of the fourth frame image. The determination unit 1120 is used to: determine that the first obstacle is moving toward the intersection when the area of ​​the first sub-area in the third frame image is larger than the area of ​​the first sub-area in the fourth frame image, or the area of ​​the second sub-area in the third frame image is smaller than the area of ​​the second sub-area in the fourth frame image; wherein, the control unit 1130 is used to: control the vehicle to give way to the first obstacle, or control the prompt device to prompt the user to slow down.

[0209] Optionally, the determination unit is further used to determine that the light intensity of the first sub-area in the third frame image is greater than the light intensity of the first sub-area in the fourth frame image before the control unit 1130 controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down.

[0210] Optionally, the dividing line between the first sub-area and the second sub-area is the first dividing line, and the determination unit 1120 is further used to: before the control unit 1130 controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down, determine that the rotation speed of the dividing line around the preset point is greater than or equal to the second preset speed, at least based on the third frame image and the fourth frame image.

[0211] It should be understood that the division of the various units in the above device is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or they may be physically separated. Furthermore, the units in the device may be implemented in the form of a processor calling software; for example, the device includes a processor connected to a memory storing instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or the functions of the various units in the device, where the processor is, for example, a general-purpose processor such as a CPU or a microprocessor, and the memory is a memory within the device or a memory external to the device. Alternatively, the units in the device may be implemented in the form of hardware circuits, and the functions of some or all of the units may be implemented through the design of the hardware circuits. The hardware circuits may be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units may be implemented through the design of the logical relationships between the components within the circuits. In another implementation, the hardware circuit may be implemented using a PLD, such as an FPGA, which may include a large number of logic gate circuits, and the connections between the logic gate circuits may be configured using a configuration file to implement the functions of some or all of the above units. All units of the above apparatus may be implemented entirely in the form of software called by a processor, or entirely in the form of hardware circuits, or partially in the form of software called by a processor and the rest in the form of hardware circuits.

[0212] Each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0213] In addition, the various units in the above apparatus may be fully or partially integrated together, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the apparatus. The at least one processor may be of different types, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0214] An embodiment of the present application also provides a device, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes the method or steps performed by the above embodiment.

[0215] Optionally, if the device is located in a vehicle, the processing unit may be the processors 121 - 12n shown in FIG. 1 .

[0216] An embodiment of the present application further provides a control system, which includes a computing platform and one or more collision sensors, wherein the computing platform includes the above-mentioned device 1000 or device 1100.

[0217] An embodiment of the present application further provides a vehicle, which may include the above-mentioned device 1000, or include the above-mentioned device 1100, or include the above-mentioned control system.

[0218] An embodiment of the present application further provides a server, which may include the above-mentioned device 1000 or device 1100.

[0219] An embodiment of the present application further provides a computer program product, which includes: computer program code, which enables the computer to execute the above-mentioned vehicle control method when the computer program code is run on a computer.

[0220] An embodiment of the present application further provides a computer-readable medium storing a program code. When the computer program code is run on a computer, the computer executes the above-mentioned vehicle control method.

[0221] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or a power-on erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0222] It should be understood that in the embodiment of the present application, the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.

[0223] It should also be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0224] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] 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.

[0229] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0230] 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 the present application should be covered and fall within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: include: Acquire a first image captured by a first camera in a vehicle, the first image including information of a reflector in an intersection, the intersection being an intersection of a first road section and a second road section, the vehicle being located in the first road section, and the reflector being used to reflect obstacles in the second road section; The vehicle is controlled based on at least the first image.

2. The method according to claim 1, characterized in that The first image includes a first frame image and a second frame image, and the controlling the vehicle at least according to the first image includes: determining a moving direction of a first obstacle in the second road section at least based on the first frame image and the second frame image; When the moving direction indicates that the first obstacle moves toward the intersection, the vehicle is controlled to give way to the first obstacle, or a prompting device is controlled to prompt a user to slow down.

3. The method according to claim 2, characterized in that The determining, at least based on the first frame image and the second frame image, a moving direction of the first obstacle in the second road section includes: The moving direction of the first obstacle is determined at least according to the relative position relationship between the first obstacle and the first reference object in the first frame image and the relative position relationship between the first obstacle and the first reference object in the second frame image.

4. The method according to claim 3, characterized in that Before controlling the vehicle to yield to the first obstacle, or controlling the prompting device to prompt the user to slow down, the method further includes: At least based on the relative position relationship between the first obstacle and the first reference object in the first frame image and the relative position relationship between the first obstacle and the first reference object in the second frame image, it is determined that the moving speed of the first obstacle is greater than or equal to a first preset speed.

5. The method according to claim 3 or 4, characterized in that: The intersection is located in an underground garage, and the first reference object includes at least one of a parking space line, other vehicles parked in the parking space, a pillar, and a wall.

6. The method according to any one of claims 2 to 5, characterized in that Before controlling the vehicle to yield to the first obstacle, or controlling the prompting device to prompt the user to slow down, the method further includes: Acquire a third frame image and a fourth frame image captured by a second camera in the vehicle, wherein the acquisition time of the third frame image is later than the acquisition time of the fourth frame image, the third frame image and the fourth frame image include information of a first area in the intersection, the first area includes a first sub-area and a second sub-area, and the light intensity of the first sub-area is greater than the light intensity of the second sub-area; Determine that the area of ​​the first sub-region in the third frame image is larger than the area of ​​the first sub-region in the fourth frame image, or determine that the area of ​​the second sub-region in the third frame image is smaller than the area of ​​the second sub-region in the fourth frame image.

7. The method according to claim 6, characterized in that Before controlling the vehicle to yield to the first obstacle, or controlling the prompting device to prompt the user to slow down, the method further includes: It is determined that the illumination intensity of the first sub-area in the third frame image is greater than the illumination intensity of the first sub-area in the fourth frame image.

8. The method according to claim 6 or 7, characterized in that: The boundary between the first sub-area and the second sub-area is a first boundary, and before the step of controlling the vehicle to yield to the first obstacle or controlling the prompting device to prompt the user to slow down, the method further includes: At least based on the third frame image and the fourth frame image, it is determined that the rotation speed of the first dividing line around the preset point is greater than or equal to a second preset speed.

9. The method according to any one of claims 2 to 8, characterized in that Before determining the moving direction of the first obstacle in the second road section at least based on the first frame image and the second frame image, the method further includes: Obstacles of a preset type are determined from the information of the reflector, and the obstacles of the preset type include the first obstacle.

10. A vehicle control device, characterized in that: include: an acquisition unit, configured to acquire a first image captured by a first camera in a vehicle, wherein the first image includes information of a reflector in an intersection, wherein the intersection is an intersection of a first road section and a second road section, the vehicle is located in the first road section, and the reflector is configured to reflect obstacles in the second road section; A control unit is used to control the vehicle at least according to the first image.

11. The device according to claim 10, characterized in that The first image includes a first frame image and a second frame image, and the device further includes: A first determining unit, configured to determine a moving direction of a first obstacle in the second road section at least based on the first frame image and the second frame image; Wherein, the control unit is used for: When the moving direction indicates that the first obstacle moves toward the intersection, the vehicle is controlled to give way to the first obstacle, or a prompting device is controlled to prompt a user to slow down.

12. The device according to claim 11, characterized in that The first determining unit is configured to: The moving direction of the first obstacle is determined at least according to the relative position relationship between the first obstacle and the first reference object in the first frame image and the relative position relationship between the first obstacle and the first reference object in the second frame image.

13. The device according to claim 12, characterized in that The first determining unit is further configured to: Before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down, it is determined that the moving speed of the first obstacle is greater than or equal to a first preset speed based on at least the relative position relationship between the first obstacle and the first reference object in the first frame image and the relative position relationship between the first obstacle and the first reference object in the second frame image.

14. The device according to claim 12 or 13, characterized in that The intersection is located in an underground garage, and the first reference object includes at least one of a parking space line, other vehicles parked in the parking space, and a pillar.

15. The device according to any one of claims 11 to 14, characterized in that The device further comprises a second determining unit, The acquisition unit is further used for acquiring a third frame image and a fourth frame image captured by a second camera in the vehicle before the control unit controls the vehicle to yield to the first obstacle, or controls the prompting device to prompt the user to slow down, wherein the acquisition time of the third frame image is later than the acquisition time of the fourth frame image, and the third frame image and the fourth frame image include information of a first area in the intersection, the first area includes a first sub-area and a second sub-area, and the light intensity of the first sub-area is greater than the light intensity of the second sub-area; The second determination unit is used to determine that the area of ​​the first sub-region in the third frame image is larger than the area of ​​the first sub-region in the fourth frame image, or to determine that the area of ​​the second sub-region in the third frame image is smaller than the area of ​​the second sub-region in the fourth frame image.

16. The device according to claim 15, characterized in that The second determination unit is further used to determine that the light intensity of the first sub-area in the third frame image is greater than the light intensity of the first sub-area in the fourth frame image before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down.

17. The device according to claim 15 or 16, characterized in that The boundary between the first sub-region and the second sub-region is a first boundary, The second determination unit is also used to determine that the rotation speed of the first dividing line around the preset point is greater than or equal to a second preset speed, at least based on the third frame image and the fourth frame image, before the control unit controls the vehicle to give way to the first obstacle, or controls the prompt device to prompt the user to slow down.

18. The device according to any one of claims 11 to 17, characterized in that The first determining unit is further configured to determine obstacles of a preset type from the information of the reflector before determining the moving direction of the first obstacle, wherein the obstacles of the preset type include the first obstacle.

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 apparatus performs the method according to any one of claims 1 to 9.

20. A control system, characterized in that: It comprises a camera and a computing platform, wherein the computing platform comprises a control device as described in any one of claims 10 to 19.

21. A vehicle, characterized in that: The method comprises a control device as claimed in any one of claims 10 to 19, or a control system as claimed in claim 20.

22. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 1 to 9 is implemented.

23. A chip, characterized in that: include: A circuit for executing the method according to any one of claims 1 to 9.

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