Vehicle control method and apparatus, image display method and apparatus, and computer device and storage medium

Abstract

The present application relates to a vehicle control method and apparatus, an image display method and apparatus, and a computer device, a storage medium and a computer program product. The vehicle control method comprises: acquiring vehicle environment information collected by at least one type of vehicle environment information collection system, and performing feature extraction on the vehicle environment information to obtain initial environment features; fusing the initial environment features to obtain a target environment feature; generating a global environment view on the basis of the target environment feature; and processing the global environment view to obtain interaction information, and outputting the interaction information to a screen taillight.

Description

Vehicle control method, image display method, device, computer equipment and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 2024110732781, filed with the Patent Office of China on August 6, 2024, entitled “Vehicle Control Method, Device, Computer Equipment, Storage Medium, and Computer-Readable Instruction Product,” the entire contents of which are incorporated herein by reference. This application claims priority to Chinese patent application No. 2024103815417, filed with the Patent Office of China on April 1, 2024, entitled “Image Display Method, Device, Computer Equipment, and Storage Medium,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to a vehicle control method, an image display method, an apparatus, a computer device, and a storage medium. Background Art

[0004] Recently, with the increasing intelligence of automobiles, the demand for efficient, safe, and comfortable driving has also increased. To meet this demand, intelligent and interactive LED screen taillights will also play an important role.

[0005] In traditional technology, for example, the LED display screens installed at the front and rear of a bus can display platform information, safety tips, route numbers and other texts, and the LED display screens installed on the top of a taxi can display advertising slogans.

[0006] However, the inventors have realized that the current display methods of these information are all pre-fixed, the display content is single, and it is played in a loop, which cannot provide effective interactive information to other vehicles. Summary of the Invention

[0007] According to various embodiments disclosed in the present application, a vehicle control method, an image display method, an apparatus, a computer device, and a storage medium are provided.

[0008] A vehicle control method, comprising:

[0009] Acquiring vehicle environment information collected by at least one type of vehicle environment information collection system, and performing feature extraction on each of the vehicle environment information to obtain initial environment features;

[0010] fusing the initial environmental features to obtain target environmental features;

[0011] generating a global environment view based on the target environment characteristics; and

[0012] The global environment view is processed to obtain interaction information, and the interaction information is output to a screen taillight.

[0013] In one optional embodiment, the acquiring of vehicle environment information collected by at least one type of vehicle environment information collection system and performing feature extraction on each of the vehicle environment information to obtain each initial environment feature include at least one of the following:

[0014] First real-time traffic information and first real-time road information are acquired by the navigation system, and feature extraction is performed on the first real-time traffic information and the first real-time road information to obtain first real-time traffic features and first real-time road features;

[0015] A radar signal of a first target collected by a radar system is used, and feature extraction is performed based on the radar signal of the first target to obtain a distance feature and a speed feature of the first target;

[0016] The vehicle surrounding environment image is captured by the camera system, and features are extracted from the vehicle surrounding environment image to obtain objects located around the vehicle;

[0017] Collecting radar laser signals through a radar laser system and performing feature extraction based on the radar laser signals to obtain a three-dimensional map of the vehicle's surroundings;

[0018] An ultrasonic signal of a second target collected by an ultrasonic system, and feature extraction based on the ultrasonic signal of the second target to obtain a distance feature and a speed feature of the second target; and

[0019] The second real-time traffic information and the second real-time road information transmitted by the neighboring vehicles are acquired through the communication system, and the second real-time traffic information and the second real-time road information are subjected to feature extraction to obtain the second real-time traffic feature and the second real-time road feature.

[0020] In one optional embodiment, fusing the initial environmental features to obtain the target environmental features includes:

[0021] Matching the target located around the vehicle and the first target to obtain a first matching result;

[0022] determining a distance feature and a speed feature of each of the targets located around the vehicle based on the first matching result;

[0023] Matching the second target with the target located around the vehicle to obtain a second matching result; and

[0024] Based on the second matching result and the distance feature and the speed feature of the second target, the distance feature and the speed feature of the target located around the vehicle are corrected.

[0025] In one optional embodiment, generating a global environment view based on the target environment characteristics includes:

[0026] The target environment features are input into an artificial intelligence network, and the artificial intelligence network is used to fuse the three-dimensional map around the vehicle, the first real-time traffic features and the first real-time road features, the distance features and the speed features of the first target, the targets located around the vehicle, the distance features and the speed features of the second target, and the second real-time traffic features and the second real-time road features to obtain a global environment view.

[0027] In one optional embodiment, extracting features based on the radar signal of the first target to obtain the distance feature and the speed feature of the first target includes:

[0028] Get vehicle speed and radar signal speed;

[0029] Obtaining a first time interval of a radar signal returned in a previous test cycle and a second time interval of a radar signal returned in a current test cycle;

[0030] obtaining a distance characteristic of the first target based on the vehicle speed, the radar signal speed, and the second time interval;

[0031] Obtaining a first distance feature of the first target based on the vehicle speed, the radar signal speed, and the first time interval; and

[0032] A speed feature of the first target is obtained based on the current distance feature, the first distance feature, the first time interval, the second time interval, and the vehicle speed.

[0033] In one optional embodiment, the processing the global environment view to obtain the interaction information includes:

[0034] Obtaining a preconfigured rule set, the rule set including processing rule subsets, each of the processing rule subsets including a condition and interaction information;

[0035] Extracting the to-be-processed environment features corresponding to each of the processing rule subsets from the global environment view; and

[0036] When the to-be-processed environmental feature satisfies the condition, the interaction information corresponding to the condition is acquired.

[0037] An image display method, comprising:

[0038] Receive the status confirmation message sent by the sender;

[0039] Detecting whether the image display terminal has a fault based on the status confirmation message;

[0040] When the image display end does not have any fault, feeding back fault-free information to the transmitting end;

[0041] receiving an image data frame sent by the transmitting end based on the fault-free information; and

[0042] Receive a screen refresh frame sent by the transmitter based on the fault-free information, and display the image data frame based on the screen refresh frame, wherein the screen refresh frame is obtained based on the interactive information generated by the vehicle control method described in any one of the above embodiments.

[0043] In one optional embodiment, the detecting whether the image display terminal has a fault based on the status confirmation message includes:

[0044] Detecting whether each screen controller of the image display terminal has a fault and / or detecting whether each LED lamp of the image display terminal has a fault based on the status confirmation message; and

[0045] When at least one of the screen end controllers is faulty or the LED lamp is faulty, it is determined that the image display end is faulty; otherwise, it is determined that the image display end is not faulty.

[0046] In one optional embodiment, the method further includes:

[0047] When a fault occurs on the image display end, feeding back fault information to the transmitting end;

[0048] receiving a status confirmation message periodically sent by the transmitting end, and continuing to detect whether the image display end has a fault based on the status confirmation message; and

[0049] When a reset instruction is received from the sending end, a reset operation is performed, and after the reset operation, the detection of whether there is a fault in the image display end is continued based on the status confirmation message. The reset instruction is sent to the image display end when the sending end receives information that there is a fault and the image display end still has a fault after a preset period of time.

[0050] In one optional embodiment, after receiving the image data frame sent by the transmitting end based on the fault-free information, the method further includes:

[0051] Detecting whether the image data frames stored in the buffer corresponding to each screen controller of the image display terminal have reached a preset number; and

[0052] When the image data frames stored in the cache reaches a preset number, feedback is sent to the sending node of the corresponding sending end to stop sending information, and the status confirmation message sent by the receiving sending end is continued to be executed until the image data frames stored in the cache are less than the preset number, and feedback is sent to the sending node corresponding to the sending end to continue sending information.

[0053] In one optional embodiment, the method further includes:

[0054] receiving a screen-off instruction sent by the sending end, where the screen-off instruction is sent by the sending end after the image data frame is sent;

[0055] After receiving the screen-off instruction, controlling the LED light array to turn off the screen and counting the screen-off time; and

[0056] When the screen off time reaches the time threshold, the system enters a dormant state.

[0057] In one optional embodiment, the method further includes:

[0058] Receive the wake-up command sent by the sender;

[0059] querying the image data frame currently displayed by the LED light array based on the wake-up instruction; and

[0060] The frame identifier is fed back to the transmitting end, where the frame identifier is used to instruct the transmitting end to determine the image data frame that was sent last time, and to continue to send the next image data frame based on the determined image data frame that was sent last time.

[0061] In one optional embodiment, an image includes a plurality of image data frames; and the receiving of the image data frames sent by the transmitting end based on the fault-free information includes:

[0062] Receiving, through each screen end controller, an image data frame sent by a sending node corresponding to the sending end; and

[0063] The displaying of the image data frame based on the screen refresh frame includes:

[0064] Based on the screen refresh frame, each screen controller is controlled to obtain an image data frame corresponding to an image, and display the image data frame.

[0065] In one of the optional embodiments, the image data frame is generated by the sending end based on the size of a frame of image data, and the data of the corresponding pixel points in each frame of image data is obtained in sequence starting from the first pixel of the image data to be sent until all the image data to be sent are sent.

[0066] A vehicle control device, comprising:

[0067] an acquisition module, configured to acquire vehicle environment information collected by at least one type of vehicle environment information acquisition system, and perform feature extraction on each piece of vehicle environment information to obtain initial environment features;

[0068] A feature fusion module is used to fuse the initial environmental features to obtain target environmental features;

[0069] A global environment view generation module, configured to generate a global environment view based on the target environment characteristics; and

[0070] A decision module is used to process the global environment view to obtain interaction information and output the interaction information to the screen taillight.

[0071] An image display device, comprising:

[0072] A status confirmation message receiving module, used to receive the status confirmation message sent by the sending end;

[0073] A fault detection module, configured to detect whether the image display terminal has a fault based on the status confirmation message;

[0074] A feedback module, configured to feed back information indicating that there is no fault to the transmitting end when there is no fault on the image display end;

[0075] an image data frame receiving module, configured to receive the image data frame sent by the transmitting end based on the fault-free information; and

[0076] A screen refresh frame receiving module is used to receive the screen refresh frame sent by the sending end based on the fault-free information, and display the image data frame based on the screen refresh frame, wherein the screen refresh frame is obtained based on the interactive information generated by the vehicle control device described in any one of the above embodiments.

[0077] A computer device includes a memory and one or more processors, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processors, the one or more processors implement the steps of the method described in any one of the embodiments when executing the computer-readable instructions.

[0078] One or more computer-readable storage media storing computer-readable instructions, which, when executed by one or more processors, enable the one or more processors to implement the steps of the method described in any one of the embodiments when executing the computer-readable instructions.

[0079] A computer-readable instruction product includes computer-readable instructions, which, when executed by one or more processors, implement the steps of the method described in any one of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0081] FIG1 is a diagram illustrating an application environment of a vehicle control method according to one or more embodiments;

[0082] FIG2 is a flow chart of a vehicle control method according to one or more embodiments;

[0083] FIG3 is a flow chart of target environment feature generation steps according to one or more embodiments;

[0084] FIG4 is a flow chart of steps for acquiring distance features and speed features according to one or more embodiments;

[0085] FIG5 is a diagram illustrating an application environment of an image display method according to one or more embodiments;

[0086] FIG6 is a schematic flow chart of an image display method according to one or more embodiments;

[0087] FIG7 is a structural block diagram of a vehicle control device according to one or more embodiments;

[0088] FIG8 is a structural block diagram of an image display device according to one or more embodiments;

[0089] FIG9 is a block diagram of a computer device according to one or more embodiments. DETAILED DESCRIPTION

[0090] In order to make the technical solutions and advantages of this application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0091] The vehicle control method provided in the embodiment of the present application can be applied in the application environment shown in Figure 1. The vehicle terminal communicates with each type of vehicle environment information collection system respectively to obtain the vehicle environment information collected by each type of vehicle environment information collection system. The vehicle terminal also communicates with the screen taillight to output the interactive information to the screen taillight. The number of vehicle environment information collection systems and the number of screen taillights are not specifically limited here, and those skilled in the art can set them based on their needs.

[0092] In some optional embodiments, the vehicle environment information acquisition system includes at least one of a navigation system, a radar system, a radar laser system, a camera system, an ultrasonic system, and a communication system.

[0093] In this embodiment, the vehicle terminal is used to extract the features of each vehicle environment information to obtain each initial environment feature; fuse the initial environment features to obtain the target environment feature; generate a global environment view based on the target environment feature; process the global environment view to obtain interactive information, and output the interactive information to the screen taillight

[0094] In the above embodiment, vehicle environment information is collected through multiple vehicle environment information collection systems, and processed to obtain initial environment characteristics, and the initial environment characteristics are fused to obtain target environment characteristics, and then a global environment view is generated based on the target environment characteristics. This can ensure that the global environment view is relatively accurate, and then interactive information is generated based on the global environment view to ensure that the interactive information is real-time and effective, and the interactive information is output to the screen taillights, so as to provide effective interactive information to other vehicles.

[0095] In an exemplary embodiment, as shown in FIG2 , a vehicle control method is provided. The method is described by taking the vehicle terminal in FIG1 as an example, and includes the following steps 202 to 206:

[0096] S202: Acquire vehicle environment information collected by at least one type of vehicle environment information collection system, and perform feature extraction on each piece of vehicle environment information to obtain initial environment features.

[0097] The vehicle environment information collection system includes at least one of a navigation system, a radar system, a radar laser system, an ultrasonic system, and a communication system.

[0098] The navigation system can collect first real-time traffic information and first real-time road information. Many vehicles are equipped with built-in GPS and navigation systems. These GPS and navigation systems provide updates of first real-time traffic information. These GPS and navigation systems use information from traffic monitoring services to provide route suggestions and generate first real-time road information to alert drivers to traffic jams and road closures.

[0099] Radar systems can collect radar signals that detect the first target. Radar systems include at least one radar sensor, which transmits radio waves and measures the reflections to detect the distance and speed of objects. Radar sensors are crucial for adaptive cruise control, collision avoidance systems, and blind spot detection; they help vehicles maintain a safe distance from other cars and detect obstacles on the road.

[0100] LiDAR systems can generate a three-dimensional map of the vehicle's surroundings. LiDAR uses laser pulses to create a high-resolution 3D map of the vehicle's surroundings. This technology is commonly used in autonomous vehicles and has the ability to detect obstacles, pedestrians, and other vehicles with high accuracy.

[0101] The ultrasonic system can collect ultrasonic signals of a second target. The ultrasonic system includes at least one ultrasonic sensor, which uses sound waves to detect objects close to the vehicle. These ultrasonic sensors are often used in parking assistance systems during parking operations to help drivers avoid collisions with nearby objects.

[0102] A camera system captures images of the vehicle's surroundings. It includes at least one camera for image acquisition. Cameras installed around the vehicle provide visual data that can be used to detect lane markings, road signs, pedestrians, and other vehicles. These cameras are key components of lane keeping assist, traffic sign recognition, and automated parking systems.

[0103] The communication system can obtain second real-time traffic information and second real-time road information transmitted by neighboring vehicles. For example, a vehicle exchanges information with other vehicles and traffic infrastructure through wireless communication to obtain real-time traffic conditions and road information.

[0104] In some optional embodiments, the working state of each vehicle environment information collection system can be determined based on the driving state of the vehicle. For example, when the vehicle is driving at a low speed or parked, the ultrasonic system is turned on, and when the vehicle is driving at a high speed, the radar system is turned on. Wherein, low-speed driving means driving at a speed within a first speed range, and high-speed driving means driving at a speed within a second speed range, and the minimum speed of the second speed range is greater than or equal to the maximum speed of the first speed range. For example, when the vehicle is driving, the navigation system and the communication system are turned on, and when the vehicle is parked, the radar laser system and the camera system are turned on. The mapping relationship between the working state of each vehicle environment information collection system and the corresponding vehicle driving state can be predetermined and can be adjusted based on the actual hardware of the vehicle, and is not specifically limited here.

[0105] The initial environmental features are based on the environmental features obtained from the environmental information of each vehicle.

[0106] In an optional embodiment, vehicle environment information collected by at least one type of vehicle environment information collection system is obtained, and feature extraction is performed on each vehicle environment information to obtain each initial environment feature, including at least one of the following: first real-time traffic information and first real-time road information obtained by a navigation system, and feature extraction is performed on the first real-time traffic information and the first real-time road information to obtain first real-time traffic features and first real-time road features; radar signals of a first target collected by a radar system, and feature extraction is performed based on the radar signals of the first target to obtain distance features and speed features of the first target; vehicle surrounding environment images collected by a camera system, and feature extraction is performed on the vehicle surrounding environment images to obtain targets located around the vehicle; radar laser signals are collected by a radar laser system, and feature extraction is performed based on the radar laser signals to obtain a three-dimensional map around the vehicle; ultrasonic signals of a second target collected by an ultrasonic system, and feature extraction is performed based on the ultrasonic signals of the second target to obtain distance features and speed features of the second target; and second real-time traffic information and second real-time road information transmitted by neighboring vehicles obtained by a communication system, and feature extraction is performed on the second real-time traffic information and the second real-time road information to obtain second real-time traffic features and second real-time road features.

[0107] Feature extraction may include data preprocessing and feature extraction of the preprocessed data. Feature extraction may be performed through an artificial intelligence model, and no specific restrictions are placed on the feature extraction method herein.

[0108] For example, GPS is used in combination with real-time traffic information services to provide real-time traffic conditions on the road ahead, thereby serving as first real-time traffic features and first real-time road features obtained by extracting features from the first real-time traffic information and the first real-time road information.

[0109] The radar system collects the radar signal of the first target and performs feature extraction based on the radar signal of the first target to obtain the distance feature and speed feature of the first target, wherein the radar system includes a long-range radar sensor and a short-range radar sensor, thereby being able to detect the distance and speed of objects at different distance ranges from the vehicle.

[0110] The camera system captures images of the vehicle's surrounding environment and performs feature extraction on the images to obtain targets located around the vehicle. Specifically, computer vision and deep learning algorithms are used to process the images to identify targets on the road, including vehicles, pedestrians, and other obstacles.

[0111] The radar laser system collects radar laser signals and performs feature extraction based on the radar laser signals to obtain a three-dimensional map of the vehicle's surroundings. Specifically, the lidar generates a three-dimensional image of the surrounding environment by emitting and receiving laser pulses.

[0112] The ultrasonic signal of the second target is collected by the ultrasonic system, and the distance feature and speed feature of the second target are obtained based on the feature extraction of the ultrasonic signal of the second target. Specifically, the ultrasonic sensor detects obstacles at a close distance from the vehicle and is mainly used in low-speed and parking environments.

[0113] The communication system obtains the second real-time traffic information and the second real-time road information transmitted by neighboring vehicles, and performs feature extraction on the second real-time traffic information and the second real-time road information to obtain second real-time traffic features and second real-time road features. Specifically, the vehicle exchanges information with other vehicles and traffic infrastructure through wireless communication to obtain real-time traffic conditions and road information.

[0114] S204: Fusing the initial environmental features to obtain target environmental features.

[0115] The fusion process is based on the classification of each initial environmental feature. First, it is determined whether each initial environmental feature belongs to the same category. If the initial environmental features belong to the same category, the target environmental features can be obtained by weighted fusion of the initial environmental features of the same category. If the initial environmental features belong to different categories, the initial environmental features are spliced ​​together.

[0116] For convenience, it is assumed that the initial environmental features include a, b and c, a and b belong to the same first category, and c belongs to the second category. Then a and b are weightedly fused to obtain d, and then d and c are spliced ​​to obtain the target environmental features.

[0117] S206: Generate a global environment view based on the target environment characteristics.

[0118] The global environment view is a description of the global environment around the vehicle based on the environmental characteristics of each target. It may include but is not limited to the various targets around the vehicle, the distance and speed of each target from the vehicle, the real-time traffic conditions of the road ahead and real-time road information. The traffic conditions may be the traffic signal ahead, and the real-time road information may include whether the road ahead is congested or there is an accident, etc.

[0119] In an optional embodiment, a global environment view is generated based on target environment features, including: inputting the target environment features into an artificial intelligence network, and fusing the three-dimensional map around the vehicle, the first real-time traffic features and the first real-time road features, the distance features and speed features of the first target, the targets located around the vehicle, the distance features and speed features of the second target, the second real-time traffic features and the second real-time road features through the artificial intelligence network to obtain a global environment view.

[0120] The artificial intelligence network can be pre-trained, with its input being the target environment features and its output being the global environment view. Therefore, in this embodiment, the target environment features are input into the artificial intelligence network, and the three-dimensional map around the vehicle, the first real-time traffic features and the first real-time road features, the distance features and speed features of the first target, the targets located around the vehicle, the distance features and speed features of the second target, the second real-time traffic features, and the second real-time road features are integrated through the artificial intelligence network to obtain a global environment view.

[0121] Specifically, the artificial intelligence network mainly uses the three-dimensional map around the vehicle as a benchmark, and integrates the first real-time traffic feature and the first real-time road feature, the distance feature and speed feature of the first target, the target located around the vehicle, the distance feature and speed feature of the second target, the second real-time traffic feature and the second real-time road feature into the three-dimensional map around the vehicle. For example, the matching results of each initial environmental feature in the target environmental feature and the three-dimensional map around the vehicle are determined, and then each initial environmental feature is integrated with the three-dimensional map around the vehicle based on the matching results. The fusion method can be weighted fusion, which is not specifically limited here.

[0122] S208: Process the global environment view to obtain interactive information, and output the interactive information to the screen taillight.

[0123] The global environment view can be processed by making rule judgments based on various targets around the vehicle, the distance and speed of each target from the vehicle, the real-time traffic conditions of the road ahead, and real-time road information to obtain interactive information.

[0124] Optionally, different rules have different priorities, so the priority of the rules satisfied by the global environment view can be confirmed first, and then the priority of the interaction information is obtained based on the priority, and the interaction information is output to the screen taillight based on the priority of the interaction information.

[0125] For example, the vehicle can efficiently identify road obstructions ahead and respond promptly. If an obstacle is detected, the system displays "Road ahead blocked, please detour." If an accident is detected, the system displays "Accident ahead, please drive with caution" to ensure safe driving. Another example is when a red traffic light is detected, the system displays pre-set messages such as "Red light ahead, please wait patiently." This alerts vehicles or people behind by controlling the display content on the taillight screen.

[0126] Car lights no longer have only lighting functions, but have been given the mission of intelligent interaction. Intelligent interactive screen taillights can automatically respond to changes in the surrounding environment and adjust their display content in real time according to different driving conditions without the need for manual intervention by the driver. This provides more convenience, allowing drivers to focus more on the road and traffic, helping other drivers to more easily identify and understand the vehicle's intentions, and reducing the risk of traffic accidents.

[0127] The above-mentioned vehicle control method collects vehicle environment information through multiple vehicle environment information collection systems, processes it to obtain initial environment characteristics, fuses the initial environment characteristics to obtain target environment characteristics, and then generates a global environment view based on the target environment characteristics. This can ensure that the global environment view is relatively accurate, and then generate interactive information based on the global environment view to ensure that the interactive information is real-time and effective, and output the interactive information to the screen taillights, so as to provide effective interactive information to other vehicles.

[0128] In an optional embodiment, when the initial environmental features include the distance features and speed features of the first target, the targets around the vehicle, and the distance features and speed features of the second target, that is, when the vehicle surrounding environment information acquisition system includes a radar system, a camera system, and an ultrasonic system, the initial environmental features are fused to obtain the target environmental features, including the following steps, which can be specifically shown in conjunction with FIG3:

[0129] S302: Matching the targets located around the vehicle and the first target to obtain a first matching result.

[0130] The targets located around the vehicle are obtained by extracting the vehicle surrounding environment images captured by the camera system. The targets include but are not limited to vehicles, pedestrians and obstacles. The distance between each target and the vehicle can also be simply obtained from the image information.

[0131] The first target is acquired by the radar system, which includes the distance characteristics and speed characteristics of the target.

[0132] Therefore, when matching, matching can be performed based on distance. In some optional embodiments, when determining the distance of each first target, the radar system can first classify the target based on the radar signal, and then calculate the distance and speed of the first target. Therefore, when matching, the first target and the targets located around the vehicle can be classified first, and then the targets of the same classification can be matched to determine the first matching result.

[0133] S304: Determine the distance characteristics and speed characteristics of each target located around the vehicle based on the first matching result.

[0134] After the matching is successful, the distance characteristics and speed characteristics of the corresponding targets located around the vehicle can be obtained based on the distance characteristics and speed characteristics of the first target collected by the radar system to improve accuracy.

[0135] S306: Match the second target with targets located around the vehicle to obtain a second matching result.

[0136] The targets located around the vehicle are obtained by extracting the vehicle surrounding environment images captured by the camera system. The targets include but are not limited to vehicles, pedestrians and obstacles. The distance between each target and the vehicle can also be simply obtained from the image information.

[0137] The second target is collected by the ultrasonic system, which includes the distance characteristics and speed characteristics of the target.

[0138] Therefore, when matching, matching can be performed based on distance. In some optional embodiments, when determining the distance of each second target, the ultrasonic system can first classify the target based on the ultrasonic signal, and then calculate the distance and speed of the first target. Therefore, when matching, the second target and the targets located around the vehicle can be classified first, and then the targets of the same classification can be matched to determine the second matching result.

[0139] S308: Based on the second matching result and the distance feature and speed feature of the second target, the distance feature and speed feature of the targets located around the vehicle are corrected.

[0140] After the matching is successful, the distance characteristics and speed characteristics of the corresponding targets located around the vehicle can be obtained based on the distance characteristics and speed characteristics of the second target collected by the ultrasonic system to improve accuracy.

[0141] During the correction, it is possible to first determine whether the distance characteristics and speed characteristics of the targets around the vehicle have been corrected by the radar system. If so, the distance characteristics and speed characteristics of the target obtained by the radar system are weightedly fused with the distance characteristics and speed characteristics of the target obtained by the ultrasonic system; if not, the distance characteristics and speed characteristics of the target obtained by the ultrasonic system are used as the distance characteristics and speed characteristics of the target.

[0142] In the above embodiment, the initial environmental features acquired by different vehicle environmental information acquisition systems may be fused to improve the accuracy of the target environmental features.

[0143] In one optional embodiment, as shown in FIG4 , FIG4 is a flow chart of steps for obtaining distance features and speed features in one embodiment. In this embodiment, feature extraction based on the radar signal of the first target is performed to obtain the distance features and speed features of the first target, including:

[0144] S402: Obtain vehicle speed and radar signal speed.

[0145] The speed of the radar signal is the propagation speed of the electromagnetic wave, and the speed of the vehicle can be directly obtained.

[0146] S404: Acquire a first time interval of the radar signal returned in the previous test cycle and a second time interval of the radar signal returned in the current test cycle.

[0147] The first time interval of the radar signal returned in the previous test cycle, that is, the first time interval from the transmission to the reception of the previous radar signal.

[0148] The second time interval of the radar signal returned in the current test cycle is the second time interval from the sending to the receiving of the current radar signal.

[0149] S406: Obtaining a distance feature of the first target based on the vehicle speed, the radar signal speed, and the second time interval.

[0150] The current distance characteristic of the first target is (radar signal speed*second time interval−vehicle speed*second time interval) / 2.

[0151] S408: Obtain a first distance feature of the first target based on the vehicle speed, the radar signal speed, and the first time interval.

[0152] Likewise, the first distance feature is (radar signal speed*first time interval−vehicle speed*first time interval) / 2.

[0153] S410: Obtaining a speed feature of the first target based on the current distance feature, the first distance feature, the first time interval, the second time interval, and the vehicle speed.

[0154] Since the two radar signals are transmitted at different times, the speed characteristic of the first target can be obtained based on this. Specifically, the speed characteristic of the first target = current distance characteristic - first distance characteristic) / (second time interval - first time interval) - vehicle speed.

[0155] In the above embodiment, the distance characteristics and speed characteristics of different first targets can be acquired by radar, laying a foundation for the subsequent extraction of initial environmental characteristics.

[0156] In other embodiments, radar signals may be classified based on a test distance range of the radar sensor and then processed in parallel to obtain distance characteristics and speed characteristics of targets in different distance ranges.

[0157] In an optional embodiment, the global environment view is processed to obtain interaction information, including: obtaining a pre-configured rule set, the rule set including each processing rule subset, each processing rule subset including conditions and interaction information; extracting the to-be-processed environment features corresponding to each processing rule subset from the global environment view; and obtaining interaction information corresponding to the conditions when the to-be-processed environment features meet the conditions.

[0158] The preconfigured rule set includes multiple rule subsets, each rule subset includes at least one rule, and the rule subset includes conditions and interaction information.

[0159] During processing, the to-be-processed environment features corresponding to each processing rule subset may be extracted from the global environment view first, and then it is determined whether the to-be-processed environment features meet the conditions of the rule subset. If so, the interaction information is obtained.

[0160] Optionally, when extracting the environmental features to be processed, the priority of each processing rule subset can be determined first, and the environmental features to be processed corresponding to each processing rule subset can be extracted from the global environment view in turn based on the priority, and processed, so that multiple interactive information can be obtained, and then the screen taillights can be controlled to play these interactive information in a loop.

[0161] In the above embodiment, required sensors can be installed according to scene requirements. For example, distance sensors (such as ultrasonic sensors or lidar) can be used to detect objects or vehicles approaching the rear of the vehicle, cameras can be used to identify traffic signs, other vehicles or road markings, and sound sensors can be used to monitor the sound or noise level in the surrounding environment. They can trigger the taillights to respond, such as displaying warning patterns in sudden braking or emergency situations. These sensor types can be combined and integrated according to the design and functional requirements of the interactive taillights. The real-time data collected by the sensors is analyzed and processed by a high-performance processor, and a specific control algorithm is used to adjust the screen display in real time. Pre-set scene characters or images, such as "Road ahead is blocked, please detour", "Accident ahead, please drive carefully", "Red light ahead, please wait patiently", or real-time traffic information and warnings are displayed on the screen taillights through the LED display module, providing reference for pedestrians and vehicles behind the vehicle, thereby alleviating impatience or irritability caused by traffic jams and enhancing driving safety and comfort.

[0162] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0163] The image display method provided by the embodiment of the present application can be applied to the application environment as shown in Figure 5. Among them, the sending end can be connected to the image display end through a network or a bus, wherein, in order to improve the sending efficiency, the sending end includes multiple sending nodes or one sending node, and the image display end includes multiple screen-end controllers, wherein each screen-end controller is used to control the brightness of the LED lights of the corresponding part in the LED array, wherein the communication links composed of each sending node and the corresponding screen-end controller work independently of each other and do not affect each other. In this embodiment, the image data frame of the corresponding screen-end controller is sent in time-sharing through a sending node. In other embodiments, it can also be sent through multiple sending nodes, and no specific restrictions are made here. Among them, the sending end in Figure 5 can include the vehicle terminal in Figure 1, and the image display end can include the screen taillight in Figure 1.

[0164] Among them, before sending the image data frame, the sending end first sends a status confirmation message to the image display end, and the image display end detects whether there is a fault in the image display end based on the status confirmation message; when there is no fault in the image display end, it feeds back fault-free information to the sending end; receives the image data frame sent by the sending end based on the fault-free information; receives the screen refresh frame sent by the sending end based on the fault-free information, and displays the image data frame based on the screen refresh frame. In this way, the above-mentioned image display method, device, computer equipment, storage medium and computer-readable instruction product, before sending the image data frame, first sends a status confirmation message to the image display end to confirm whether there is a fault in the image display end. If there is no fault, it feeds back fault-free information to the sending end, so that the sending end can send the image data frame and screen refresh frame based on the fault-free information, and then display the image data frame based on the screen refresh frame, thereby avoiding the phenomenon of unstable display when the LED array end has a fault.

[0165] The transmitting end may be the master controller of the vehicle, and the image displaying end may be a headlight driver for controlling headlights and other displays, which is used to drive the LED array of the headlights to display corresponding image data.

[0166] In an exemplary embodiment, as shown in FIG6 , an image display method is provided, which is described by taking the method applied to the image display terminal in FIG5 as an example, and includes the following steps 602 to 610 . In which:

[0167] S602: Receive a status confirmation message sent by the sending end.

[0168] The status confirmation message is used to confirm the status of the image display terminal and can be a fixed message. The status confirmation message is sent each time the transmitter and the image display terminal transmit an image data frame. This "each time" here refers to non-continuous transmission of image data frames, not every frame. Non-continuous transmission of image data frames can be caused by an anomaly at the transmitter, an anomaly at the image display terminal, or the transmission of a new image data frame.

[0169] In an optional embodiment, if the image display end includes multiple screen controllers, the sending end may send a status confirmation message to each screen controller to confirm whether each screen controller is faulty.

[0170] S604: Detect whether there is a fault on the image display terminal based on the status confirmation message.

[0171] S606: When there is no fault at the image display end, feedback information indicating that there is no fault is sent to the sending end.

[0172] When the image display terminal receives the status confirmation message, it performs self-status detection. If there is a fault, it returns the information that the fault exists to the sending end. If there is no fault, it returns the information that there is no fault to the sending end.

[0173] If there is a fault, the sending end may periodically send a status confirmation message to the image display end until the image display end no longer has a fault. If there is no fault, the sending end starts to send image data to the image display end.

[0174] In one of the optional embodiments, detecting whether the image display end has a fault based on the status confirmation message includes: detecting whether each screen-end controller of the image display end has a fault and / or detecting whether each LED light of the image display end has a fault based on the status confirmation message; when at least one of the screen-end controllers has a fault or the LED light has a fault, determining that the image display end has a fault, otherwise, determining that the image display end has no fault.

[0175] The detection of the image display terminal includes at least one of the detection of the screen controller and the detection of the LED light. In one optional embodiment, when the image display terminal includes multiple screen controllers, the sending end can send a status confirmation message to each screen controller. After receiving the status confirmation message, each screen controller performs fault detection. Only when all screen controllers feedback the information that there is no fault, it is determined that there is no fault in the image display terminal. Otherwise, it is determined that there is a fault in the image display terminal, and the status confirmation message continues to be sent to each screen controller.

[0176] Fault detection for the screen controller can be achieved through status bits. The screen controller monitors its own status in real time and modifies the corresponding status bit if a fault occurs. For example, screen controller faults include at least one of undervoltage, overvoltage, open circuit, short circuit, and overtemperature. When a status confirmation message is received, the status bit is read to determine whether the screen controller has failed.

[0177] LED lamp fault detection can also be achieved through status bits. The screen controller detects the status of each LED lamp in real time, including idle, animation display status, fault, picture display status, etc. If it is in a fault state, the value of the corresponding status bit is modified. When a status confirmation message is received, the status bit is read to determine whether the LED lamp is faulty.

[0178] In an optional embodiment, one of the screen-end controllers detects that at least one of the screen-end controller or the LED lamp has a fault, and returns information indicating that the fault has occurred.

[0179] S608: Receive the image data frame sent by the transmitter based on the fault-free information.

[0180] S610: Receive a picture refresh frame sent by the transmitting end based on the information that there is no fault, and display the image data frame based on the picture refresh frame.

[0181] The image data frame here can be understood as a frame of message rather than an image. An image can include multiple image data frames, and multiple image data frames constitute the image. Each screen-end controller is used to receive the corresponding multiple image data frames in an image, and the multiple image data frames received by all the screen-end controllers constitute the image.

[0182] When the sending end receives the information without fault, it starts to send data to the image display end, and the screen-end controller receives the image data frame sent by the sending end, wherein the working mode of each sending node and the screen-end controller includes: receiving the image data frame sent by the sending node, and verifying the image data frame; when the image data frame verification passes, the image data frame is stored in the cache, and a message of successful sending of the image data frame is returned to the sending node; receiving the screen refresh frame sent by the sending node, the screen refresh frame is sent to the screen-end controller according to the preset sending cycle when the sending node determines that the number of successfully sent image data frames reaches the sending number based on the message of successful sending of the image data frame; based on the screen refresh frame, the target image data frame is obtained from the cache, and the target image data frame is displayed.

[0183] An image data frame is one of the multiple data frames included in an image. For example, if the size of an image is A and the maximum transmission data of a frame is B, then an image requires A / B frame image data frames, and each image data frame corresponds to a specific LED light range. In this way, the image data frame received by each screen controller is also specific. If multi-node transmission is adopted, the image data frame sent by each sending node is specific.

[0184] In one optional embodiment, each image data frame carries a frame identifier that identifies the image corresponding to the current image data frame and its position within the corresponding image. For example, the frame identifier can be cc-dd, where cc represents the current image and dd represents the position within image cc of the image data frame. In one optional embodiment, the LED lights are arranged sequentially, so that the LED lights corresponding to each image data frame are also arranged sequentially.

[0185] Verification of the image data frame includes, but is not limited to: whether the number of LED particles included in the image data frame is the same as the number of LED particles controlled by the screen controller; whether the frame identifier is the same as the frame identifier of the last received image data frame, wherein the same frame identifier includes the same current image identifier and the image data frame identifier. The image data frame verification passes if the number of LED particles is the same as the number of LED particles controlled by the screen controller, and the frame identifier is different from the frame identifier of the last received image data frame; otherwise, the frame verification fails.

[0186] The screen refresh frame is sent by the sending node to the screen controller. The sending node will count the number of image data frames successfully sent. When it reaches NA, it will send the screen refresh frame to the screen controller according to the preset sending cycle. For example, one screen refresh frame is sent every preset duration to ensure the continuity of the animation. The preset duration can be optionally 30ms.

[0187] For ease of understanding, when the sending node starts sending image data frames, the number of successfully sent image data frames is counted. When the number of successfully sent image data frames reaches NA, a frame of screen refresh frame is sent every preset time, and when the subsequent image sending is completed or a fault occurs and the sending stops, the statistical value is controlled to 0 so that it is easy to re-count whether to start sending screen refresh frames next time.

[0188] The screen refresh frame is sent by the sending node to the screen controller. The sending node will count the number of image data frames successfully sent. When it reaches NA, it will send the screen refresh frame to the screen controller according to the preset sending cycle. For example, one screen refresh frame is sent every preset duration to ensure the continuity of the animation. The preset duration can be optionally 30ms.

[0189] For ease of understanding, when the sending node starts sending image data frames, the number of successfully sent image data frames is counted. When the number of successfully sent image data frames reaches NA, a frame of screen refresh frame is sent every preset time, and when the subsequent image sending is completed or a fault occurs and the sending stops, the statistical value is controlled to 0 so that it is easy to re-count whether to start sending screen refresh frames next time.

[0190] In an optional embodiment, an image includes several image data frames; receiving the image data frames sent by the sending end based on fault-free information includes: receiving the image data frames sent by the sending node corresponding to the sending end through each screen-end controller respectively; displaying the image data frames based on the screen refresh frame includes: controlling each screen-end controller to obtain the image data frame corresponding to an image based on the screen refresh frame, and displaying the image data frame.

[0191] The data of an image is relatively large and generally needs to be split into multiple frames for transmission. The calculation formula for the number of message frames N is: N = one frame image data size (Byte) / 64 (the maximum transmission data of one CANFD frame is 64 bytes). The number of messages corresponding to each screen controller, that is, the number of image data frames, is predetermined. The sending end sends the corresponding message, that is, the image data frame, to the corresponding screen controller.

[0192] The grayscale data of a frame of image is broken down into multiple CANFD messages (multiple IDs) on the vehicle body side and sent out sequentially. Starting from the first pixel of the image, the data segments of consecutive ID messages are filled in sequentially, 64 bytes at a time, until the grayscale data of all pixels in a frame of image are completely sent. The light end begins buffering image data after receiving the first frame (first ID) message until the last frame is received and buffered.

[0193] In the CAN protocol, ID is a key field used for arbitration and identification. Sequence control can be achieved by assigning different IDs to multiple frames. This embodiment uses the ID distinction method, for example:

[0194] First image data frame: ID = 0x100, data = ..., other data (first pixel, 64th pixel);

[0195] Second image data frame: ID=0x101, data=..., other data (65th pixel, 128th pixel); and subsequent image data frames.

[0196] It should be noted that the image data frame here includes multiple frames, that is, one image corresponds to multiple image data frames, and each screen-end controller corresponds to several of them. The image data frames corresponding to the several screen-end controllers together constitute the image. For the sake of ease of understanding, it is assumed that one image is divided into P image data frames, and each screen-end controller includes Q image data frames, wherein optionally, the Q of each screen-end controller can be different or the same, then P / Q is the number of screen-end controllers. Each time a screen refresh frame is received, the screen-end controller obtains Q image data frames and refreshes the screen. In one of the optional embodiments, the screen-end controller will first verify the obtained Q image data frames, that is, determine whether the Q image data frames correspond to one image, and if so, refresh the screen.

[0197] Specifically, the image display creates a cache in memory with the same number of pixels as the original image. While reconstructing the original message, it stores the pixel data carried by the message in the cached pixel according to the specific ID number. This process continues until the last message frame is restored, at which point the entire image frame is received and cached. LED mapping involves matching the physical location of the LEDs with their logical location in the control system, enabling precise control of each LED's on / off state, brightness, and other parameters. By defining the physical layout, assigning logical addresses, and using mapping tables, precise control of complex LED display systems can be achieved. The specific mapping method depends on the LED arrangement and display requirements, and the code implementation needs to be adjusted based on the actual hardware. The mapping process involves the following steps: Physical layout definition: Determine the physical arrangement of the LEDs, such as a matrix (rows and columns), stripes, or a ring. Logical address assignment: Assign a logical address (such as a pixel ID) to each physical LED. Controller mapping: Map the controller's output signal to a specific LED address.

[0198] In this way, through reasonable design, the display image can be presented in static or dynamic form through the LED display screen.

[0199] In the above-mentioned image display method, before sending an image data frame each time, a status confirmation message is first sent to the image display end to confirm whether there is a fault in the image display end. If there is no fault, the fault-free information is fed back to the sending end, so that the sending end can send the image data frame and the screen refresh frame based on the fault-free information, and subsequently display the image data frame based on the screen refresh frame, thereby avoiding the phenomenon of unstable display due to a fault on the LED array end.

[0200] In an optional embodiment, the above-mentioned image display method also includes: when there is a fault in the image display end, feeding back information about the fault to the sending end; receiving the status confirmation message periodically sent by the sending end, and continuing to execute the detection of whether there is a fault in the image display end based on the status confirmation message; when receiving the reset instruction sent by the sending end, performing the reset operation, and continuing to execute the detection of whether there is a fault in the image display end based on the status confirmation message after the reset operation, the reset instruction is sent by the sending end to the image display end when the image display end still has a fault after a preset period of time after receiving the information about the fault.

[0201] When receiving information about the image display terminal failure, the sending end records the failure status and then sends a status confirmation message every first time period, such as 50ms. When receiving information about the normal operation of the screen controller, the sending end sends a frame of image data to the screen controller.

[0202] If the sending end still receives the fault information after the preset time period, it indicates that the image display end has been faulty, so the sending end sends a reset instruction to the image display end to reset the image display end. The preset time period is greater than the first time period, and can be a preset multiple of the first time period, such as 20 times, etc., which is not specifically limited here.

[0203] In one embodiment, after receiving the image data frames sent by the sending end based on the fault-free information, it also includes: detecting whether the image data frames stored in the cache corresponding to each screen controller of the image display end have reached a preset number; when the image data frames stored in the cache have reached a preset number, feedback is sent to the sending node of the corresponding sending end to stop sending information, and the status confirmation message sent by the receiving sending end is continued to be executed until the image data frames stored in the cache are less than the preset number, and feedback is sent to the sending node corresponding to the sending end to continue sending information.

[0204] The image data frame transmission cycle is preset, for example, a preset duration is required to transmit one image data frame. However, due to the operation of the transmitting node or transmission failures, it is possible that less than one image data frame is transmitted within the preset duration. In other embodiments, when the transmitting node determines that it is in an idle state, the transmitting node obtains a target transmission cycle corresponding to the idle state and transmits image data frames according to the target transmission cycle, which is less than the preset transmission cycle. This increases the speed at which the transmitting node transmits image data frames.

[0205] For ease of understanding, an example is given to illustrate that the sending node detects its own status in real time. If it is not in an idle state, that is, the resource occupancy rate reaches a preset value, for example, 60%, then the image data frame is sent according to the preset sending period, that is, the corresponding image data frame of an image is sent every 30ms. If the sending node is in an idle state, the target sending period is obtained, where the target sending period can be related to the idle state. For example, if the resource occupancy rate is 50%, then the target sending period is 90% of the preset sending period; if the resource occupancy rate is 40%, then the target sending period is 80% of the preset sending period. In this way, the target sending period can be dynamically adjusted based on the idleness of the sending node to increase the sending speed of the image data frame and avoid the cache being used up and jittering.

[0206] Optionally, when the cache of the screen-end controller is full, information indicating that the cache is full is fed back to the sending node, that is, whether the preset number is reached. If so, information indicating that the sending node should stop sending is fed back to the sending node of the corresponding sending end, so that the sending node stops sending image data frames, and the sending node sends a status confirmation frame to the corresponding screen-end controller in real time to determine whether the screen-end controller can start receiving image data frames, that is, if the image data frames stored in the cache are less than the preset number, the image data frames will continue to be sent from the breakpoint.

[0207] In an optional embodiment, the above method also includes: receiving a screen-off instruction sent by the sending end, which is sent by the sending end after the image data frame is sent; after receiving the screen-off instruction, controlling the LED light array to turn off the screen, and counting the screen-off time; when the screen-off time reaches a time threshold, entering a sleep state.

[0208] The screen-off command is sent after the image data frame is sent. Since the last frame of the image may require some LED lights to be on, if the screen-off command is not sent, the LED lights will remain on. For this reason, each time the image data frame is sent, the screen-off command is sent to turn off the LED lights and count the screen-off time. If the screen-off time reaches the time threshold, the control screen controller enters the sleep state to save resources and power.

[0209] In an optional embodiment, the method also includes: receiving a wake-up instruction sent by the sending end; querying the image data frame currently displayed by the LED light array based on the wake-up instruction; and feeding back a frame identifier to the sending end, the frame identifier being used to instruct the sending end to determine the image data frame sent last, and to continue sending the next image data frame based on the determined image data frame sent last.

[0210] The wake-up command is used to wake up the screen controller to control the LED lights. After receiving the wake-up command, the screen controller returns a frame identifier, allowing the sending node to determine the last image data frame sent. Based on the determined last image data frame, it continues to send the next image data frame, thus achieving breakpoint resumability. The wake-up command is generally sent after the sending node fault is repaired to ensure the continuity of image display.

[0211] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0212] Based on the same inventive concept, embodiments of the present application further provide a vehicle control device for implementing the aforementioned vehicle control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle control device embodiments provided below can be found in the above-described limitations of the vehicle control method and will not be further elaborated here.

[0213] In an exemplary embodiment, as shown in FIG7 , a vehicle control device is provided, comprising: an acquisition module 701 , a feature fusion module 702 , a global environment view generation module 703 , and a decision module 704 , wherein:

[0214] The acquisition module 701 is used to obtain vehicle environment information collected by at least one type of vehicle environment information acquisition system, and perform feature extraction on each vehicle environment information to obtain each initial environment feature;

[0215] A feature fusion module 702 is used to fuse the initial environmental features to obtain target environmental features;

[0216] A global environment view generating module 703 is configured to generate a global environment view based on target environment characteristics;

[0217] The decision module 704 is used to process the global environment view to obtain interaction information and output the interaction information to the screen taillight.

[0218] In an optional embodiment, the acquisition module 701 is specifically used to obtain each initial environmental feature based on any one of the following: first real-time traffic information and first real-time road information acquired by a navigation system, and performing feature extraction on the first real-time traffic information and the first real-time road information to obtain first real-time traffic features and first real-time road features; radar signals of a first target acquired by a radar system, and performing feature extraction based on the radar signals of the first target to obtain distance features and speed features of the first target; images of the vehicle surroundings acquired by a camera system, and performing feature extraction on the images of the vehicle surroundings to obtain targets located around the vehicle; radar laser signals acquired by a radar laser system, and performing feature extraction based on the radar laser signals to obtain a three-dimensional map around the vehicle; ultrasonic signals of a second target acquired by an ultrasonic system, and performing feature extraction based on the ultrasonic signals of the second target to obtain distance features and speed features of the second target; and second real-time traffic information and second real-time road information transmitted by neighboring vehicles acquired through a communication system, and performing feature extraction on the second real-time traffic information and the second real-time road information to obtain second real-time traffic features and second real-time road features.

[0219] In an optional embodiment, the feature fusion module 702 is specifically used to match the targets located around the vehicle with the first target to obtain a first matching result; determine the distance characteristics and speed characteristics of each target located around the vehicle based on the first matching result; match the second target with the target located around the vehicle to obtain a second matching result; and correct the distance characteristics and speed characteristics of the targets located around the vehicle based on the second matching result and the distance characteristics and speed characteristics of the second target.

[0220] In an optional embodiment, the above-mentioned global environment view generation module 703 is specifically used to input the target environment characteristics into the artificial intelligence network, and fuse the three-dimensional map around the vehicle, the first real-time traffic characteristics and the first real-time road characteristics, the distance characteristics and speed characteristics of the first target, the target located around the vehicle, the distance characteristics and speed characteristics of the second target, and the second real-time traffic characteristics and the second real-time road characteristics through the artificial intelligence network to obtain a global environment view.

[0221] In an optional embodiment, the feature fusion module 702 is specifically used to obtain the vehicle speed and the radar signal speed; obtain the first time interval of the radar signal returned in the previous test cycle and the second time interval of the radar signal returned in the current test cycle; obtain the distance feature of the first target based on the vehicle speed, the radar signal speed and the second time interval; obtain the first distance feature of the first target based on the vehicle speed, the radar signal speed and the first time interval; obtain the speed feature of the first target based on the current distance feature, the first distance feature, the first time interval, the second time interval and the vehicle speed.

[0222] In an optional embodiment, the above-mentioned decision module 704 is specifically used to obtain a pre-configured rule set, which includes various processing rule subsets, and each processing rule subset includes conditions and interaction information; extracts the environment features to be processed corresponding to each processing rule subset from the global environment view; and obtains the interaction information corresponding to the conditions when the environment features to be processed meet the conditions.

[0223] Each module in the aforementioned vehicle control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within a computer device in the form of hardware, or may be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0224] In an exemplary embodiment, as shown in FIG8 , an image display device is provided, comprising: a status confirmation message receiving module 801, a fault detection module 802, a feedback module 803, an image data frame receiving module 804, and a screen refresh frame receiving module 805, wherein:

[0225] The status confirmation message receiving module 801 is used to receive the status confirmation message sent by the sending end;

[0226] A fault detection module 802 is configured to detect whether the image display terminal has a fault based on the status confirmation message;

[0227] Feedback module 803, used for feeding back fault-free information to the transmitting end when there is no fault at the image display end;

[0228] The image data frame receiving module 804 is configured to receive the image data frame sent by the sending end based on the fault-free information;

[0229] The screen refresh frame receiving module 805 is used to receive the screen refresh frame sent by the sending end based on the fault-free information, and display the image data frame based on the screen refresh frame. The screen refresh frame is obtained based on the interactive information generated by the vehicle control method in any of the above embodiments.

[0230] In one embodiment, the fault component detection module is further configured to detect whether each screen controller of the image display terminal has a fault and / or detect whether each LED lamp of the image display terminal has a fault based on the status confirmation message;

[0231] When at least one of the screen-end controllers is faulty or the LED lamp is faulty, it is determined that the image display end is faulty; otherwise, it is determined that the image display end is not faulty.

[0232] In one embodiment, the above-mentioned device also includes a reset module, which is used to feedback information about the existence of the fault to the sending end when there is a fault in the image display end; receive the status confirmation message periodically sent by the sending end, and continue to execute the detection of whether there is a fault in the image display end based on the status confirmation message; when receiving the reset instruction sent by the sending end, perform the reset operation, and continue to execute the detection of whether there is a fault in the image display end based on the status confirmation message after the reset operation. The reset instruction is sent by the sending end to the image display end when the image display end still has a fault after a preset period of time after receiving the information about the existence of the fault.

[0233] In one embodiment, the above-mentioned device also includes: a detection module, which is used to detect whether the image data frames stored in the cache corresponding to each screen controller of the image display end have reached a preset number; when the image data frames stored in the cache have reached a preset number, feedback is given to the sending node of the corresponding sending end to stop sending information, and the status confirmation message sent by the receiving sending end is continued to be executed until the image data frames stored in the cache are less than the preset number, and feedback is given to the sending node corresponding to the sending end to continue sending information.

[0234] In one embodiment, the above-mentioned device also includes: a screen-off module, which is used to receive a screen-off instruction sent by the sending end, and the screen-off instruction is sent by the sending end after the image data frame is sent; after receiving the screen-off instruction, the LED light array is controlled to turn off the screen, and the screen-off time is counted; when the screen-off time reaches the time threshold, it enters the sleep state.

[0235] In one embodiment, the above-mentioned device also includes: a wake-up module, which is used to receive a wake-up instruction sent by the sending end; query the image data frame currently displayed by the LED light array based on the wake-up instruction; and feedback a frame identifier to the sending end, where the frame identifier is used to instruct the sending end to determine the image data frame sent last, and continue to send the next image data frame based on the determined image data frame sent last.

[0236] In one embodiment, an image includes several image data frames; the above-mentioned image data frame receiving module 304 is also used to receive the image data frames sent by the sending node corresponding to the sending end through each screen-end controller; the above-mentioned screen refresh frame receiving module 805 is also used to control each screen-end controller to obtain the image data frame corresponding to an image based on the screen refresh frame, and display the image data frame.

[0237] Each module in the above-mentioned image display device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0238] In an exemplary embodiment, a computer device is provided, which may be a terminal. A diagram of its internal structure may be shown in FIG9 . The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals via wired or wireless communication, where the wireless communication may be achieved via Wi-Fi, a mobile cellular network, NFC (near-field communication), or other technologies. When executed by the processor, the computer-readable instructions implement a vehicle control method. The display unit of the computer device is configured to produce a visually visible image and may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0239] Those skilled in the art will understand that the structure shown in Figure 9 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0240] In one embodiment, the present application also provides a computer device comprising a memory and one or more processors, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the one or more processors implement the steps of the method described in any one of the embodiments when executing the computer-readable instructions.

[0241] In one embodiment, the present application also provides one or more computer-readable storage media storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the method described in any one of the embodiments when executing the computer-readable instructions.

[0242] In one embodiment, the present application further provides a computer-readable instruction product, comprising computer-readable instructions, which implement the steps of the method described in any one of the embodiments when executed by one or more processors.

[0243] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0244] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions. The computer-readable instructions can be stored in a non-volatile computer-readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0245] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0246] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. [Corrected 10.02.2025 in accordance with Article 91] A method for controlling a vehicle, the method comprising: Acquiring vehicle environment information collected by at least one type of vehicle environment information collection system, and performing feature extraction on each of the vehicle environment information to obtain initial environment features; fusing the initial environmental features to obtain target environmental features; generating a global environment view based on the target environment characteristics; and The global environment view is processed to obtain interaction information, and the interaction information is output to a screen taillight.

2. [Corrected 10.02.2025 under Rule 91] A method according to claim 1, wherein The acquiring of vehicle environment information collected by at least one type of vehicle environment information collection system and performing feature extraction on each of the vehicle environment information to obtain each initial environment feature may include at least one of the following: First real-time traffic information and first real-time road information are acquired by the navigation system, and feature extraction is performed on the first real-time traffic information and the first real-time road information to obtain first real-time traffic features and first real-time road features; A radar signal of a first target collected by a radar system is used, and feature extraction is performed based on the radar signal of the first target to obtain a distance feature and a speed feature of the first target; The vehicle surrounding environment image is captured by the camera system, and features are extracted from the vehicle surrounding environment image to obtain objects located around the vehicle; Collecting radar laser signals through a radar laser system and performing feature extraction based on the radar laser signals to obtain a three-dimensional map of the vehicle's surroundings; An ultrasonic signal of a second target collected by an ultrasonic system is used, and feature extraction is performed based on the ultrasonic signal of the second target to obtain a distance feature and a speed feature of the second target; and The second real-time traffic information and the second real-time road information transmitted by the neighboring vehicles are acquired through the communication system, and the second real-time traffic information and the second real-time road information are subjected to feature extraction to obtain the second real-time traffic feature and the second real-time road feature.

3. [Corrected 10.02.2025 under Rule 91] A method according to claim 2, wherein The step of fusing the initial environmental features to obtain the target environmental features includes: Matching the target located around the vehicle and the first target to obtain a first matching result; determining a distance feature and a speed feature of each of the targets located around the vehicle based on the first matching result; Matching the second target with the target located around the vehicle to obtain a second matching result; and Based on the second matching result and the distance feature and the speed feature of the second target, the distance feature and the speed feature of the target located around the vehicle are corrected.

4. [Corrected 10.02.2025 under Rule 91] A method according to claim 2, wherein Generating a global environment view based on the target environment characteristics includes: The target environment features are input into an artificial intelligence network, and the artificial intelligence network is used to fuse the three-dimensional map around the vehicle, the first real-time traffic features and the first real-time road features, the distance features and the speed features of the first target, the targets located around the vehicle, the distance features and the speed features of the second target, and the second real-time traffic features and the second real-time road features to obtain a global environment view.

5. [Corrected 10.02.2025 under Rule 91] A method according to claim 2, wherein The extracting features based on the radar signal of the first target to obtain the distance feature and the speed feature of the first target includes: Get vehicle speed and radar signal speed; Obtaining a first time interval of a radar signal returned in a previous test cycle and a second time interval of a radar signal returned in a current test cycle; obtaining a distance characteristic of the first target based on the vehicle speed, the radar signal speed, and the second time interval; Obtaining a first distance feature of the first target based on the vehicle speed, the radar signal speed, and the first time interval; and A speed feature of the first target is obtained based on the current distance feature, the first distance feature, the first time interval, the second time interval, and the vehicle speed.

6. [Corrected 10.02.2025 under Rule 91] A method according to any one of claims 1 to 5, wherein The processing of the global environment view to obtain interaction information includes: Obtaining a preconfigured rule set, the rule set including processing rule subsets, each of the processing rule subsets including a condition and interaction information; Extracting the to-be-processed environment features corresponding to each of the processing rule subsets from the global environment view; and When the to-be-processed environmental feature satisfies the condition, the interaction information corresponding to the condition is acquired.

7. [Corrected 10.02.2025 according to Rule 91] A method for displaying an image, wherein: The method comprises: Receive the status confirmation message sent by the sender; Detecting whether the image display terminal has a fault based on the status confirmation message; When the image display end does not have any fault, feeding back fault-free information to the transmitting end; receiving an image data frame sent by the transmitting end based on the fault-free information; Receive a screen refresh frame sent by the transmitter based on the fault-free information, and display the image data frame based on the screen refresh frame, wherein the screen refresh frame is obtained based on the interactive information generated by the vehicle control method according to any one of claims 1 to 6.

8. [Corrected 10.02.2025 under Rule 91] A method according to claim 7, wherein The detecting whether the image display terminal is faulty based on the status confirmation message includes: Detecting whether each screen controller of the image display terminal has a fault and / or detecting whether each LED lamp of the image display terminal has a fault based on the status confirmation message; and When at least one of the screen end controllers is faulty or the LED lamp is faulty, it is determined that the image display end is faulty; otherwise, it is determined that the image display end is not faulty.

9. [Corrected 10.02.2025 under Rule 91] A method according to claim 7, wherein The method further comprises: When a fault occurs on the image display end, feeding back fault information to the transmitting end; receiving a status confirmation message periodically sent by the transmitting end, and continuing to detect whether the image display end has a fault based on the status confirmation message; and When a reset instruction is received from the sending end, a reset operation is performed, and after the reset operation, the detection of whether there is a fault in the image display end is continued based on the status confirmation message. The reset instruction is sent to the image display end when the sending end receives information that there is a fault and the image display end still has a fault after a preset period of time.

10. [Corrected 10.02.2025 under Rule 91] A method according to claim 7, wherein After receiving the image data frame sent by the transmitting end based on the fault-free information, the method further includes: Detecting whether the image data frames stored in the buffer corresponding to each screen controller of the image display terminal have reached a preset number; and When the image data frames stored in the cache reaches a preset number, feedback is sent to the sending node of the corresponding sending end to stop sending information, and the status confirmation message sent by the receiving sending end is continued to be executed until the image data frames stored in the cache are less than the preset number, and feedback is sent to the sending node corresponding to the sending end to continue sending information.

11. [Corrected 10.02.2025 under Rule 91] A method according to any one of claims 7 to 10, wherein The method further comprises: receiving a screen-off instruction sent by the sending end, where the screen-off instruction is sent by the sending end after the image data frame is sent; After receiving the screen-off instruction, controlling the LED light array to turn off the screen and counting the screen-off time; and When the screen off time reaches the time threshold, the system enters a dormant state.

12. [Corrected 10.02.2025 under Rule 91] A method according to claim 11, wherein The method further comprises: Receive the wake-up command sent by the sender; querying the image data frame currently displayed by the LED light array based on the wake-up instruction; and The frame identifier is fed back to the transmitting end, where the frame identifier is used to instruct the transmitting end to determine the image data frame that was sent last time, and to continue to send the next image data frame based on the determined image data frame that was sent last time.

13. [Corrected 10.02.2025 under Rule 91] A method according to claim 7, wherein An image includes a plurality of image data frames; the receiving of the image data frames sent by the transmitting end based on the fault-free information includes: Receiving, through each screen controller, an image data frame sent by a sending node corresponding to the sending end; and The displaying of the image data frame based on the screen refresh frame includes: Based on the screen refresh frame, each screen controller is controlled to obtain an image data frame corresponding to an image, and display the image data frame.

14. [Corrected 10.02.2025 under Rule 91] A method according to claim 7, wherein The image data frame is generated by the sending end based on the size of a frame of image data, and the data of the corresponding pixel points in each frame of image data is obtained in sequence starting from the first pixel of the image data to be sent until all the image data to be sent are sent.

15. [Corrected 10.02.2025 according to Rule 91] A vehicle control device, comprising: an acquisition module, configured to acquire vehicle environment information collected by at least one type of vehicle environment information acquisition system, and perform feature extraction on each piece of vehicle environment information to obtain initial environment features; A feature fusion module is used to fuse the initial environmental features to obtain target environmental features; A global environment view generation module, configured to generate a global environment view based on the target environment characteristics; A decision module is used to process the global environment view to obtain interaction information and output the interaction information to the screen taillight.

16. [Corrected 10.02.2025 according to Rule 91] An image display device, comprising: A status confirmation message receiving module, used to receive the status confirmation message sent by the sending end; A fault detection module, configured to detect whether the image display terminal has a fault based on the status confirmation message; A feedback module, configured to feed back information indicating that there is no fault to the transmitting end when there is no fault on the image display end; An image data frame receiving module, configured to receive an image data frame sent by the transmitting end based on the fault-free information; A screen refresh frame receiving module is used to receive the screen refresh frame sent by the sending end based on the fault-free information, and display the image data frame based on the screen refresh frame. The screen refresh frame is obtained based on the interactive information generated by the vehicle control device according to claim 16.

17. [Corrected 10.02.2025 according to Rule 91] A computer device comprising a memory and one or more processors, the memory storing computer-readable instructions, wherein: When the computer-readable instructions are executed by the processor, the one or more processors implement the steps of the method of any one of claims 1 to 6 or 7 to 14 when executing the computer-readable instructions.

18. [Corrected 10.02.2025 under Rule 91] One or more computer-readable storage media having computer-readable instructions stored thereon, wherein: When the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the method according to any one of claims 1 to 6 or 7 to 14 when executing the computer-readable instructions.

19. [Corrected 10.02.2025 under Rule 91] A computer-readable instruction product comprising computer-readable instructions, wherein: When the computer readable instructions are executed by one or more processors, the steps of the method of any one of claims 1 to 6 or 7 to 14 are implemented.

Images