Control method and apparatus, and vehicle

Abstract

A control method and apparatus, and a vehicle. The method comprises: when the traveling speed of a vehicle is less than or equal to a speed threshold, or when the vehicle is traveling under the control of an automatic parking function, acquiring sensing information of the vehicle; and when the sensing information indicates that there is a first action directed at a first vehicle body region of the vehicle, or when the sensing information indicates that there is a first human posture within a first range of the vehicle, controlling the vehicle to suspend traveling. The present solution can be applied to the field of intelligent vehicles such as new energy vehicles and electric vehicles. When an action directed at a certain vehicle body region or a specific human posture outside a vehicle is detected, the vehicle can be controlled to suspend traveling, thereby being conducive to improving the flexibility of vehicle control and the driving safety of the vehicle.

Description

Control method, device and vehicle TECHNICAL FIELD

[0001] The present application relates to the field of intelligent driving, and more particularly, to a control method, device and vehicle. BACKGROUND

[0002] Auto parking (AP) refers to automatic parking of a vehicle, that is, an automatic driving system can semi-automatically or fully automatically help a user to park the vehicle. Auto parking can include auto parking assist (APA), remote parking assist (RPA) and auto valet parking (AVP), etc.

[0003] In the process of controlling the vehicle to park by the current auto parking system, if the driver has a demand to control the vehicle to pause driving while being in the vehicle, the driver can control the vehicle to pause driving by stepping on the brake, or the driver can control the vehicle to pause driving by clicking a pause parking button in a parking interface displayed on a vehicle display screen. If the driver has a demand to control the vehicle to pause driving while being outside the vehicle, the driver can only control the parking process to pause by using a mobile phone. It can be seen that the current way to control the vehicle to pause driving while being outside the vehicle in the process of parking the vehicle is relatively single. Moreover, when there is a demand to control the vehicle to pause driving, the parking interface is not displayed on the mobile phone, or the parking interface is not an interface including the button for pausing parking, and thus it is necessary to control the mobile phone to display the button for pausing parking, which is time-consuming and cumbersome to operate, and is not conducive to parking safety in an emergency.

[0004] In view of this, a control scheme for facilitating a user to control the vehicle to pause driving in the process of auto parking is urgently needed to be developed.

[0005] SUMMARY

[0006] The present application provides a control method, device and vehicle, which can control the vehicle to pause driving according to an action against the vehicle outside the vehicle, and is helpful to improve the driving safety of the vehicle.

[0007] In a first aspect, a control method is provided, which can be executed by a vehicle, for example, can be executed by a computing platform of the vehicle, or can also be executed by a chip or circuit for the vehicle.

[0008] The method comprises: obtaining perception information of the vehicle; and controlling the vehicle to pause driving when the perception information indicates that there is a first action against a first body region of the vehicle, or when the perception information indicates that there is a first human body posture within a first range of the vehicle.

[0009] In some implementations, the controlling the vehicle to suspend driving includes: controlling the vehicle to suspend driving from a driving state; or, in a case where the vehicle is ready to drive from a parking state, controlling the vehicle to suspend driving (or suspension of starting).

[0010] In the technical solution described above, the vehicle is controlled to suspend driving according to the action of the vehicle body or the detected specific human posture, which helps to improve the convenience of vehicle control, and when an unexpected situation (such as the presence of an obstacle around the vehicle affecting driving safety) occurs, the vehicle can be quickly controlled to stop, which helps to improve driving safety.

[0011] In combination with the first aspect, in some implementations of the first aspect, the method further includes: before or when controlling the vehicle to suspend driving, controlling an external prompt device of the vehicle to prompt first information, the first information indicating that the signal for controlling the vehicle to suspend driving has been received.

[0012] In the technical solution described above, when the vehicle detects the first action of the vehicle body or the first human posture, the external prompt device is controlled to prompt the first information, which can enable the person who makes the first action or the first human posture to determine that the vehicle has received the relevant signal.

[0013] In combination with the first aspect, in some implementations of the first aspect, the controlling the external prompt device of the vehicle to prompt the first information includes: controlling a first prompt device corresponding to the first vehicle body region to prompt the first information; or, controlling a second prompt device corresponding to the first region to prompt the first information, the first region being the region where the first human posture is detected.

[0014] In some implementations, the first prompt device corresponding to the first vehicle body region can be understood as: the first prompt device and the first vehicle body region are located in the same region of the vehicle, for example, the first vehicle body region is located on the front side of the vehicle, and the first prompt device is arranged on the front side of the vehicle; or, the first prompt device corresponding to the first vehicle body region can also be understood as: the first vehicle body region and the information prompted by the first prompt device are located in the same region of the vehicle, for example, the first vehicle body region is on the left side of the vehicle, and the display position of the information prompted by the first prompt device is on the left side of the vehicle.

[0015] In some implementations, the second prompt device corresponding to the first region can be understood as: the display position of the information prompted by the second prompt device is located in the first region.

[0016] In the technical solution described above, the corresponding prompt device of the vehicle is controlled to prompt the relevant information according to the position of the person who makes the first action or the first human posture, which helps to improve the reception rate of the relevant prompt information by the person who makes the first action or the first human posture.

[0017] With reference to the first aspect, in some implementations of the first aspect, the out-of-vehicle prompting device includes at least one of a headlamp, a first projection device, an out-of-vehicle sound device, and a tail lamp, and the first projection device is configured to project light to the outside of the vehicle; and the method further includes: controlling the out-of-vehicle prompting device of the vehicle to prompt the first information, including at least one of: controlling the headlamp to display light that flashes at a first frequency; controlling the first projection device to project light information; controlling the out-of-vehicle sound device to sound a horn; or controlling the tail lamp to display light that flashes at a second frequency.

[0018] In some implementations, the first projection device projects light to a position corresponding to the first body region or the first region.

[0019] In some implementations, the first frequency and the second frequency can be the same frequency, or can be different frequencies.

[0020] With reference to the first aspect, in some implementations of the first aspect, the method further includes: when the perception information indicates the first action, before or while controlling the vehicle to pause driving, controlling an in-vehicle prompting device of the vehicle to prompt second information, the second information indicating at least one of: that the vehicle is about to pause driving or is pausing driving, a reason for the vehicle to pause driving, or a reason for the vehicle to pause driving.

[0021] In some implementations, the in-vehicle prompting device can include one or more of an in-vehicle display device (such as a center screen, a head-up display, etc.), an in-vehicle light device (such as an ambient light, etc.), and an in-vehicle sound device.

[0022] In some implementations, the second information can further indicate that the first action directed at the first body region is detected.

[0023] In the above technical solutions, through the second information of the in-vehicle prompting device, a user in the vehicle can be informed of the state that the vehicle is about to pause driving or is pausing driving, and / or a reason for the vehicle to pause driving or to pause driving.

[0024] With reference to the first aspect, in some implementations of the first aspect, the method further includes: after controlling the vehicle to pause driving, controlling an out-of-vehicle prompting device of the vehicle to prompt third information, the third information indicating that the vehicle has paused driving.

[0025] In some implementations, the out-of-vehicle prompting device in this implementation and the out-of-vehicle prompting device that prompts the first information can be the same device, or can be different devices.

[0026] With reference to the first aspect, in some implementations of the first aspect, the method further includes: in response to any one of the following, controlling the vehicle to continue driving when the vehicle is in the paused driving state: a second action on a second body region of the vehicle; a second human body posture within the first range; a first operation on a button at a first door of the vehicle; a time duration that the second camera of the vehicle is blocked by the user being greater than or equal to a time duration threshold; or, receiving a first signal from a first device, the first device being associated with the vehicle, the first signal indicating that the vehicle continues to drive.

[0027] In some implementations, the first device can be an electronic device (such as a mobile phone, a smart watch, etc.) associated with the vehicle, or can also be a physical key of the vehicle.

[0028] In the above technical solution, after the vehicle is paused, the vehicle can be quickly controlled to start driving again, the control method is simple and convenient, which helps to improve the intelligent degree of the vehicle and improve the user's driving experience.

[0029] With reference to the first aspect, in some implementations of the first aspect, the method further includes: before controlling the vehicle to continue driving, controlling an external prompt device of the vehicle to prompt fourth information, the fourth information indicating that the vehicle is about to drive.

[0030] In some implementations, the external prompt device in this implementation and the external prompt device prompting the first information or the third information can be the same device, or can also be different devices.

[0031] In the above technical solution, before controlling the vehicle to continue driving, the external prompt device is controlled to prompt information that the vehicle is about to drive, which helps to make the personnel or other traffic participants outside the vehicle avoid in time, and helps to protect the personal safety of the personnel outside the vehicle and other traffic participants.

[0032] With reference to the first aspect, in some implementations of the first aspect, the perception information includes information collected by a first camera, and the first body region matches a field of view (FOV) of the first camera.

[0033] In the above technical solution, the first body region matches the FOV of the first camera, which helps to timely obtain the first action on the first body region, so as to timely control the vehicle to pause driving.

[0034] With reference to the first aspect, in some implementations of the first aspect, controlling the vehicle to pause driving includes: when the speed of the vehicle is less than or equal to a speed threshold, controlling the vehicle to pause driving.

[0035] In some implementations, the speed threshold can be 5 km / h to 10 km / h, or the speed threshold can be other numerical values.

[0036] In the technical solution, when the speed of the vehicle is less than or equal to the speed threshold, the vehicle is controlled to stop driving according to the first action or the first body posture again, which helps to avoid the vehicle from stopping driving due to the detection of the first action or the first body posture during normal driving of the vehicle, and improves the vehicle experience of the user.

[0037] With reference to the first aspect, in some implementations of the first aspect, the controlling the vehicle to stop driving comprises: controlling the vehicle to stop driving when the vehicle is driving under control of an automatic parking function.

[0038] In some implementations, the automatic parking function can be an AVP or an RPA, or can also be another automatic parking function.

[0039] In the technical solution, when the vehicle is under the automatic parking function and the first action or the first body posture is detected, the vehicle is controlled to stop driving, which improves the convenience of controlling the vehicle during automatic parking, thereby improving the vehicle experience of the user. In addition, the probability of the vehicle stopping driving due to the detection of the first action or the first body posture in other scenarios can also be reduced.

[0040] With reference to the first aspect, in some implementations of the first aspect, the controlling the vehicle to stop driving comprises: controlling the vehicle to stop driving when the main driver position of the vehicle is unoccupied.

[0041] In the technical solution, when the main driver position is unoccupied and the first action or the first body posture is detected, the vehicle is controlled to stop driving, which helps to improve the driving safety of the vehicle. In addition, the probability of the vehicle stopping driving due to the detection of the first action or the first body posture when the driver is in place can also be reduced.

[0042] With reference to the first aspect, in some implementations of the first aspect, the first range comprises any of the following: a range at a first distance from an outer contour of the vehicle; a range between a circle with a center at an origin of a vehicle coordinate system associated with the vehicle and a radius of a second distance and the outer contour of the vehicle, the second distance being greater than a maximum distance between the origin and the outer contour of the vehicle; or a sensing range of a sensor that collects the perception information, the perception information indicating an environmental feature outside a cabin of the vehicle, the vehicle comprising the sensor.

[0043] In some implementations, the sensor comprises the first camera.

[0044] In a second aspect, a control apparatus is provided, comprising an obtaining unit and a processing unit, wherein the obtaining unit is configured to obtain perception information of a vehicle; and the processing unit is configured to control the vehicle to pause driving when the perception information indicates that a first action exists for a first body region of the vehicle, or when the perception information indicates that a first human body gesture exists within a first range of the vehicle.

[0045] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to control an out-of-vehicle prompting apparatus of the vehicle to prompt first information before or when the vehicle is controlled to pause driving, the first information indicating that a signal for controlling the vehicle to pause driving has been received.

[0046] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to control a first prompting apparatus corresponding to the first body region to prompt the first information, or control a second prompting apparatus corresponding to a first region to prompt the first information, the first region being a region in which the first human body gesture is detected.

[0047] With reference to the second aspect, in some implementations of the second aspect, the out-of-vehicle prompting apparatus comprises at least one of a headlamp, a first projection apparatus configured to project to an outside of the vehicle, an out-of-vehicle sound device, and a tail lamp; and the processing unit is configured to perform at least one of the following: control the headlamp to display light flashing at a first frequency; control the first projection apparatus to project light information; control the out-of-vehicle sound device to sound a horn; or control the tail lamp to display light flashing at a second frequency.

[0048] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to control an in-vehicle prompting apparatus of the vehicle to prompt second information before or when the vehicle is controlled to pause driving, the second information indicating at least one of the following: that the vehicle is about to or is pausing driving, a reason for which the vehicle is about to pause driving, or a reason for which the vehicle is pausing driving, when the perception information indicates the first action.

[0049] With reference to the second aspect, in some implementations of the second aspect, the apparatus further comprises: controlling an out-of-vehicle prompting apparatus of the vehicle to prompt third information after the vehicle is controlled to pause driving, the third information indicating that the vehicle has paused driving.

[0050] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to, when the vehicle is in a paused driving state, control the vehicle to continue driving in response to any one of the following: a second action existing for a second body region of the vehicle; a second human body gesture existing within the first range; a first operation of a key at a first door of the vehicle; a time duration for which a second camera device of the vehicle is blocked by a user being greater than or equal to a time duration threshold; or a first signal from a first device being received, the first device being associated with the vehicle, the first signal indicating that the vehicle continues driving.

[0051] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the out-of-vehicle prompting device of the vehicle to prompt fourth information before the vehicle continues to travel, the fourth information indicating that the vehicle is about to travel.

[0052] With reference to the second aspect, in some implementations of the second aspect, the perception information comprises information collected by a first camera device, and the first vehicle body region matches a FOV of the first camera device.

[0053] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the vehicle to pause traveling when a speed of the vehicle is less than or equal to a speed threshold.

[0054] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the vehicle to pause traveling when the vehicle travels under control of an automatic parking function.

[0055] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the vehicle to pause traveling when the main driver position of the vehicle is unoccupied.

[0056] With reference to the second aspect, in some implementations of the second aspect, the first range comprises any one of: a range at a first distance from an outer contour of the vehicle; a range between a circle with a center at an origin of a vehicle coordinate system associated with the vehicle and a radius of a second distance and the outer contour of the vehicle, the second distance being greater than a maximum distance between the origin and the outer contour of the vehicle; or a perception range of a sensor that collects the perception information, the perception information indicating an environmental feature outside a cabin of the vehicle, the vehicle comprising the sensor.

[0057] A third aspect provides a control device, comprising: a processor configured to execute a computer program stored in a memory, so that the device executes the method in any possible implementation of the first aspect.

[0058] With reference to the third aspect, in some implementations of the third aspect, the device further comprises the memory.

[0059] A fourth aspect provides a computer program product, the computer program product comprising: computer program code which, when executed on a computer or processor, causes the computer or processor to execute the method in any possible implementation of the first aspect.

[0060] It should be noted that the computer program code can be stored in whole or in part on a storage medium, wherein the storage medium can be packaged together with the processor or packaged separately from the processor.

[0061] In a fifth aspect, a computer readable storage medium is provided, and the computer readable medium stores instructions which, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0062] In a sixth aspect, a chip is provided, and the chip comprises circuitry configured to perform the method in any possible implementation of the first aspect.

[0063] In a seventh aspect, a vehicle is provided, and the vehicle comprises the apparatus in any possible implementation of the second aspect or the third aspect, or the vehicle comprises the computer readable storage in any possible implementation of the fifth aspect, or the vehicle comprises the chip in any possible implementation of the sixth aspect, or the vehicle is loaded with the computer program code in any possible implementation of the fourth aspect.

[0064] In connection with the seventh aspect, in some implementations of the seventh aspect, the vehicle is a vehicle in a broad sense, for example, can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), a recreational device, a toy vehicle, etc. In actual implementation, the vehicle can also be a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, or other intelligent driving devices.

[0065] The beneficial effects not described in the second aspect to the seventh aspect can be referred to the description in the first aspect, and will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0066] FIG. 1 is a functional schematic block diagram of a vehicle provided by an embodiment of the present application;

[0067] FIG. 2 is a schematic block diagram of a control system architecture provided by an embodiment of the present application;

[0068] FIG. 3 is a schematic flow chart of a control method provided by an embodiment of the present application;

[0069] FIG. 4 is a schematic diagram of an application scenario of the control method provided by an embodiment of the present application;

[0070] FIG. 5 is a schematic diagram of prompt-related information provided by an embodiment of the present application;

[0071] FIG. 6 is another schematic diagram of prompt-related information provided by an embodiment of the present application;

[0072] FIG. 7 is still another schematic diagram of prompt-related information provided by an embodiment of the present application;

[0073] FIG. 8 is a schematic diagram of a gesture involved in the control method according to an embodiment of the present application;

[0074] FIG. 9 is a schematic diagram of a GUI according to an embodiment of the present application;

[0075] FIG. 10 is a schematic block diagram of a control device according to an embodiment of the present application;

[0076] FIG. 11 is another schematic block diagram of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0077] The technical solutions in the embodiments of the present application will be described below with reference to the drawings.

[0078] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application. As shown in FIG. 1, the vehicle 100 can include a perception system 120, a prompting device 130, a communication system 140, and a computing platform 150, wherein the perception system 120 can include several sensors for sensing information of the environment around the vehicle 100. For example, the perception system 120 can include a positioning system, which can be a global navigation satellite system (GNSS) such as a global positioning system (GPS), a Beidou system, etc. For another example, the perception system 120 can also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0079] Exemplarily, the camera outside the cabin can include one or more of a front-view camera, a rear-view camera, an all-around-view camera, and a side-view camera. The front-view camera can be installed at the front windshield. The rear-view camera can be installed at the rear trunk. The side-view camera can be installed below the side mirror. The all-around-view camera includes four cameras installed around the vehicle, and the images obtained by the four cameras can be spliced to obtain a panoramic image of the surroundings of the vehicle. In some implementations, the all-around-view camera can coincide with the front-view camera, the rear-view camera, and the side-view camera. For example, the camera of the all-around-view camera installed on the side of the vehicle can be the side-view camera, the camera of the all-around-view camera installed in front of the vehicle can be the front-view camera, and the camera of the all-around-view camera installed behind the vehicle can be the rear-view camera. Alternatively, the all-around-view camera can also be different from the front-view camera, the rear-view camera, and the side-view camera.

[0080] The prompting device 130 can include any of a display device, a sound-emitting device, and a light device. Among them, the display device is mainly divided into two categories, the first category is a vehicle-mounted display screen, and the second category is a projection display screen, such as a head up display (HUD). The vehicle-mounted display screen is a physical display screen and is an important component of the in-vehicle infotainment system. Multiple display screens can be provided in the cabin, such as a digital instrument display screen, a central control screen, and the like. In some possible implementation manners, one or more of the above vehicle-mounted display screens can be a human machine interface (HMI), for example, the central control screen can be an HMI. The head up display, also known as a head-up display system, is mainly used to display driving information such as speed, navigation, and the like on a display device (such as a windshield) in front of the driver. To reduce the driver's sight line shift time and avoid the pupil change caused by the driver's sight line shift, and to improve the driving safety and comfort. The HUD includes, for example, a combiner-HUD (C-HUD) system, a windshield-HUD (W-HUD) system, and an augmented reality HUD (AR-HUD). The sound-emitting device can include an in-vehicle loudspeaker, an in-vehicle sound system, or the like, or can also include an out-of-vehicle horn, an out-of-vehicle loudspeaker, an out-of-vehicle sound system, and the like. The light device is used to display light, which can include an in-vehicle ambient light and the like, or the light device can also include a light device outside the vehicle, such as a headlamp, a pixel type vehicle lamp, and the like. More specifically, the headlamp includes one or more of a low beam, a high beam, and a turn signal. In some implementation manners, the pixel type vehicle lamp can include, but is not limited to, a light device based on digital light processing (DLP) technology, a light device based on micro light emitting diode (Micro-LED) technology, or a light device based on liquid crystal display (LCD). The pixel type vehicle lamp can be used to project a specific pattern to the ground or a building around the vehicle to prompt relevant information to other road users in the road.

[0081] The communication system 140 can integrate one or more devices of at least one communication module, and the communication system 140 can receive and transmit electromagnetic waves through an antenna to enable the vehicle 100 to communicate with a server, other vehicles, a roadside device, etc. based on the Internet of Vehicles through the communication system 140, where the Internet of Vehicles includes a vehicle-to-vehicle (V2V) communication network, a vehicle-to-infrastructure (V2I) communication network, a vehicle-to-network (V2N) communication network, and other vehicle-to-everything (V2X) communication networks. The wireless communication technology can also include wireless short-range communication technologies, such as Bluetooth (BT) communication technology, radio frequency identification (RFID) communication technology, NearLink communication technology, etc. Exemplarily, the communication system 140 can include a telematics box (T-box), or can also include other communication modules. In actual implementation, the vehicle 100 communicates with a cloud server, a roadside device, etc. through the T-box, and the vehicle 100 communicates with other devices having the same wireless short-range communication module through other wireless short-range communication modules.

[0082] Some or all of the functionality of the vehicle 100 can be controlled by the computing platform 150. The computing platform 150 can include processors 151-15n, which are circuits that have the capability to process signals. In one implementation, the processors can be circuits that have the capability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processors can be circuits that implement functionality through fixed or reconfigurable logic, such as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) such as a field programmable gate array (FPGA). In reconfigurable hardware circuits, the processor loads configuration files to implement the configuration of the hardware circuit, which can be understood as the processor loading instructions to implement the relevant functionality. Additionally, the processors can be hardware circuits designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like. Additionally, the computing platform 150 can include a memory that stores instructions that can be called by some or all of the processors 151-15n to implement functionality.

[0083] The operation of the intelligent driving system can be controlled by the computing platform 150, which can include an advanced driving assistant system (ADAS) and an autonomous driving system (ADS). The intelligent driving system uses various sensors on the vehicle (including but not limited to laser radar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the vehicle, and analyzes and processes the obtained information to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / alerting, etc., thereby improving the safety, automation level and comfort of vehicle driving.

[0084] At different levels of autonomous driving (or intelligent driving, a total of L0-L5 six levels), based on artificial intelligence algorithms and information obtained by multiple sensors, the intelligent driving system can realize different levels of autonomous driving assistance. The above-mentioned autonomous driving levels are based on the classification standard of the Society of Automotive Engineers (SAE). Among them, L0 level is no automation; L1 level is driving assistance; L2 level is partial automation; L3 level is conditional automation; L4 level is high automation; L5 level is full automation. The tasks of monitoring the road conditions and reacting are completed by the driver and the system together at L1 to L3 levels, and the driver needs to take over the dynamic driving task. L4 and L5 levels can make the driver completely change into the role of a passenger. At present, the functions that the intelligent driving system can realize mainly include but are not limited to adaptive cruise assistance, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assistance, rear vehicle collision warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above-mentioned various functions can have specific modes at different autonomous driving levels (L0-L5), and the higher the autonomous driving level, the more intelligent the corresponding mode. For example, automatic parking can include APA, RPA and AVP, etc. For APA, the driver does not need to manipulate the steering wheel, but still needs to manipulate the accelerator and brake on the vehicle; for RPA, the driver can use a terminal (such as a mobile phone) to remotely control the parking of the vehicle outside the vehicle; for AVP, the vehicle can complete parking without a driver. In terms of corresponding autonomous driving levels, APA is approximately at the L1 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0085] The roles of the perception system 120, the prompting device 130, the communication system 140 and the computing platform 150 in the present application will be described in detail below in connection with FIG. 2. FIG. 2 shows a schematic block diagram of a control system architecture provided in an embodiment of the present application. The system includes a perception module 210, a planning control module 220, a prompting module 230 and an actuator 240. In some implementations, the system further includes a communication module 250. Exemplarily, the perception module 210 can include one or more cameras in the perception system 120 shown in FIG. 1, or can further include other sensors; the planning control module 220 can include one or more processors in the computing platform shown in FIG. 1; the prompting module 230 can include one or more devices in the prompting device 130; the actuator 240 can include a steering and braking control system in the vehicle 100; and the communication module 250 can include one or more modules in the communication system 140 shown in FIG. 1. The roles of the modules can be described as follows.

[0086] (1) The perception module 210 is configured to collect perception information around the vehicle, which can indicate whether a specific body posture exists around the vehicle, and can further indicate whether a specific action against a specific body region of the vehicle exists. The perception module 210 can send the collected perception information to the planning control module 220.

[0087] (2) The planning control module 220 is configured to plan a planning path for parking into the target parking space, and to control the vehicle to park into the target parking space along the planning path. In addition, during the process in which the vehicle is driven under the control of the automatic parking function, or during the process in which the vehicle is driven at a low speed (e.g., the speed of the vehicle is less than or equal to a speed threshold), if the perception information from the perception module 210 indicates that a specific action against a specific body region of the vehicle is detected, or if the perception information from the perception module 210 indicates that a specific body posture is detected around the vehicle, the planning control module 220 can control the vehicle to pause driving. When the vehicle is in the paused driving state, if a specific action against a specific body region of the vehicle is detected, or if the perception information from the perception module 210 indicates that a specific body posture is detected around the vehicle, the planning control module 220 can control the vehicle to continue driving. Before or when the vehicle is controlled to pause driving, or before or when the vehicle is controlled to continue parking, the planning control module 220 can send relevant information to the prompting module 230, so that the prompting module 230 prompts the relevant information.

[0088] In addition, after controlling the vehicle to stop driving or after controlling the vehicle to continue parking, the planning control module 220 can also control the communication module 250 to send information indicating the parking state or the driving state to an electronic device associated with the vehicle, so that the electronic device displays or pushes information related to the parking state or the driving state. Wherein, the vehicle and the electronic device are associated, which can be understood as: the account logged in the electronic device and the vehicle head unit are the same; or, the accounts logged in the electronic device and the vehicle head unit are different, but both are accounts of authorized users of the vehicle. Exemplarily, the electronic device can be a handheld device, a wearable device, a computing device, or other processing devices connected to a wireless modem, etc. For example, the electronic device can be a mobile phone, a tablet computer, a watch, a bracelet, etc. The electronic device can display or push the parking state related information through a vehicle owner application, wherein the vehicle owner application can include an application that provides vehicle control for legal authorized users of the vehicle, and / or an application that provides vehicle status information service for legal authorized users of the vehicle.

[0089] (Three) The prompting module 230 is configured to control the related device to prompt information according to the indication of the planning control module 220. In an example, the prompting module 230 includes a headlamp and / or a tail lamp. Before or when controlling the vehicle to stop driving, the planning control module 220 can control the headlamp and / or the tail lamp to flash, so as to prompt a user outside the vehicle that the vehicle has received a signal for controlling the vehicle to stop driving. Or, before controlling the vehicle to continue parking, the planning control module 220 can control the headlamp and / or the tail lamp to flash, so as to prompt a user outside the vehicle that the vehicle is about to drive. In another example, the prompting module 230 includes a projection device for projecting outside the vehicle. Before or when controlling the vehicle to stop driving, the planning control module 220 can control the projection device to project relevant light information outside the vehicle, so as to prompt a user outside the vehicle that the vehicle has received a signal for controlling the vehicle to stop driving. Or, before controlling the vehicle to continue parking, the planning control module 220 can control the projection device to project relevant light information outside the vehicle, so as to prompt a user outside the vehicle that the vehicle is about to drive. In another example, the prompting module 230 can include one or more of a display device (such as a central control screen, etc.), a light device, and a sound device in the vehicle. Before or when controlling the vehicle to stop driving, the planning control module 220 can also control one or more of the display device, the light device, and the sound device in the vehicle to prompt relevant information, so as to prompt a user inside the vehicle that the vehicle has received a signal for controlling the vehicle to stop driving.

[0090] (Four) The actuator 240 is configured to receive a control quantity and execute the control quantity. When the foregoing control quantity is executed, the vehicle can be controlled to drive to the target parking space or the target position along the planning path. Wherein, the control quantity can be calculated by the planning control module 220 according to the planning path.

[0091] (V) The communication module 250 is configured to send information indicating the parking state or the driving state to the electronic device. In some embodiments, the communication module 250 can also receive information from the electronic device for controlling the vehicle, and the communication module 250 sends relevant information to the planning control module according to the received information from the electronic device, so that the planning control module 220 controls the operating state of the vehicle according to the information from the electronic device.

[0092] It should be understood that the above modules are only an example, and in actual applications, the above modules can be added or deleted according to actual needs. For example, in the system architecture shown in FIG. 2, the planning control module 220 and the communication module 250 can be combined into one module.

[0093] FIG. 3 shows a schematic flowchart of a control method according to an embodiment of the present application. The method 300 can be performed by the vehicle 100 shown in FIG. 1, or can also be performed by the planning control module 220 shown in FIG. 2. Specifically, the method can include:

[0094] S310, obtaining perception information of the vehicle.

[0095] Exemplarily, the perception information can include image information, for example, image information collected by an external camera of the vehicle; or the perception information can also include other sensor information indicating that a certain position of the vehicle is tapped or knocked.

[0096] S320, when the perception information indicates that there is a first action to a first body region of the vehicle, or when the perception information indicates that there is a first human body posture within a first range of the vehicle, controlling the vehicle to pause driving.

[0097] In some embodiments, the first range can include a range at a first distance from the outer contour of the vehicle, wherein the first distance can be any value in 10-20 meters, or the first distance can also be other values; or the first range can also be a range between the outer contour of the vehicle and a circle with a second distance as a radius and the origin of the vehicle coordinate system associated with the vehicle as the center, wherein the second distance can be any value in 10-20 meters, or the second distance can also be other values; or the first range can also be a perception range of a sensor used to collect the perception information, wherein the perception information indicates environmental features outside the cabin of the vehicle. In actual implementation, the first range can also be other ranges.

[0098] Exemplarily, the first action can be an action of patting or knocking the first vehicle body region, and the first vehicle body region matches the FOV of the first camera when the perception information is information collected by the first camera. The first vehicle body region matching the FOV of the first camera can be understood as that the FOV of the first camera covers the first vehicle body region. The first camera can be arranged on the left side or the right side of the vehicle, or can also be arranged on the front side or the rear side of the vehicle.

[0099] In some implementations, S320 can be refined as: when the perception information indicates that there is the first action on the first vehicle body region of the vehicle, or when the perception information indicates that there is the first human body posture within the first range, and when the speed of the vehicle is less than or equal to a speed threshold, controlling the vehicle to pause driving. The speed threshold can be any value in 5 km / h to 10 km / h, or can also be other values.

[0100] In still some implementations, S320 can be refined as: when the perception information indicates that there is the first action on the first vehicle body region of the vehicle, or when the perception information indicates that there is the first human body posture within the first range, and when the vehicle is driving under control of an automatic parking function, controlling the vehicle to pause driving. The automatic parking function can include the aforementioned RPA or AVP, and when the vehicle is driving under control of the automatic parking function, the driver can be in the vehicle cabin, or the driver can also be outside the vehicle cabin.

[0101] In still some implementations, S320 can be refined as: when the perception information indicates that there is the first action on the first vehicle body region of the vehicle, or when the perception information indicates that there is the first human body posture within the first range, and when the main driver position of the vehicle is unoccupied, controlling the vehicle to pause driving.

[0102] In order to facilitate understanding of the method 300 provided by the embodiments of the present application, the method 300 is described in detail below in combination with FIGS. 4 to 9.

[0103] FIG. 4 shows a schematic diagram of an application scenario of the control method according to an embodiment of the present application. As shown in FIG. 4, taking the vehicle 410 as an example of the vehicle in the method 300, the vehicle 410 is currently controlled to travel to a target parking space 420 in a tail-in manner (i.e., the tail of the vehicle is parked in the parking space first) by an automatic parking function. For example, if a patting action on a vehicle body region 411 of the vehicle is detected or a patting action on a vehicle body region 412 is detected during the travel of the vehicle in the tail direction, the vehicle is controlled to pause the travel. The vehicle body region 411 can be a region matched with the FOV of a right-view camera (e.g., a camera disposed at a right rearview mirror) of the vehicle, and the vehicle body region 411 can be regarded as an example of the first vehicle body region, and the right-view camera can be regarded as an example of the first camera. The vehicle body region 412 can be a region matched with the FOV of a front-view camera of the vehicle, and the vehicle body region 412 can be regarded as an example of the first vehicle body region, and the front-view camera can be regarded as an example of the first camera.

[0104] The patting action described above is an action of patting the vehicle body with the palm side. In actual implementation, the first action can also be an action of knocking the vehicle body with the back of the hand. For example, if a knocking action on a vehicle body region 415 of the vehicle is detected during the travel of the vehicle in the tail direction, the vehicle is controlled to pause the travel. The vehicle body region 415 can be a region matched with the FOV of a rear-view camera of the vehicle, and the vehicle body region 415 can be regarded as an example of the first vehicle body region, and the rear-view camera can be regarded as an example of the first camera.

[0105] It should be noted that the above only takes the patting action or the knocking action on the vehicle body region 411, the vehicle body region 412, and the vehicle body region 415 as examples for illustrative description. In actual implementation, the first action can also be other actions than the patting action and the knocking action on other vehicle body regions of the vehicle.

[0106] In some implementations, before or while the vehicle is controlled to pause the travel, an out-of-vehicle prompting device of the vehicle is controlled to prompt first information, and the first information indicates that the signal for controlling the vehicle to pause the travel has been received.

[0107] In some embodiments, the first action is detected for the first body region, and the vehicle exterior prompt device is controlled to prompt the first information. For example, the vehicle exterior prompt device includes at least one of a headlamp, a first projection device, a vehicle exterior sound device, and a tail lamp, and the first projection device is configured to project light to the outside of the vehicle. The vehicle exterior prompt device is controlled to prompt the first information, which can include at least one of the following: controlling the headlamp (e.g., the headlamp 413 in FIG. 4) to display light flashing at a first frequency; controlling the first projection device to project light information; controlling the vehicle exterior sound device (e.g., the vehicle horn 414 in FIG. 4) to sound a horn; or controlling the tail lamp (e.g., the tail lamp 416 in FIG. 4) to display light flashing at a second frequency. For example, the first frequency and the second frequency can be the same or different.

[0108] In some embodiments, the first projection device can include at least one of a device configured to project light to the front of the vehicle, a device configured to project light to the side of the vehicle, or a device configured to project light to the rear of the vehicle. The first projection device can be a pixel lamp or another projection device that can edit the projection content. For example, when the first projection device includes a device configured to project light to the side of the vehicle, the first information can include the light information 501 in FIG. 5. For another example, when the first projection device includes a device configured to project light to the front of the vehicle, the first information can include the light information 601 in FIG. 6. The light information 501 and the light information 601 each include a text portion and a pattern portion, and the text portion is oriented in a direction that is easy for pedestrians or users around the vehicle to understand. It should be noted that the content and form of the light information 501 and the light information 601 are only illustrative, and in actual implementation, the light information projected by the first projection device can also be other forms of information, such as light information including only text or a pattern.

[0109] In some embodiments, the vehicle exterior prompt device is controlled to prompt the first information, which can be further refined as follows: a first prompt device corresponding to the first body region is controlled to prompt the first information; or a second prompt device corresponding to the first region is controlled to prompt the first information, and the first region is a region where the first human posture is detected.

[0110] Exemplarily, if the first vehicle body region is the aforementioned vehicle body region 411, the first prompting device can include a projection device on the right side of the vehicle, or the first region is located on the right side of the vehicle, the second prompting device can include a projection device on the right side of the vehicle, and the first information can include the light information 501 shown in FIG. 5; or the first prompting device or the second prompting device can further include a headlamp and / or a tail lamp, and the first information can include light flashing at a first frequency and / or light flashing at a second frequency. More specifically, the correspondence between the first prompting device and the first vehicle body region can be as shown in Table 1; and the correspondence between the first region and the second prompting device can be as shown in Table 2.

[0111] Table 1

[0112] Table 2

[0113] It can be understood that the correspondences shown in Table 1 and Table 2 are only exemplary descriptions, and in actual implementation, the first prompting device and the second prompting device can further include other devices, respectively.

[0114] In some implementations, when the first action on the first vehicle body region is detected, before or when the vehicle is controlled to pause driving, the in-vehicle prompting device of the vehicle can be further controlled to prompt second information indicating that the vehicle is about to pause driving or is pausing driving, a reason for pausing driving or a reason for pausing driving. Exemplarily, the in-vehicle prompting device can include at least one of an in-vehicle sound device, an in-vehicle display device, and an in-vehicle light device. Taking the first vehicle body region as the aforementioned vehicle body region 411 and the first action as a tapping action as an example, FIG. 7 shows some examples of controlling the in-vehicle prompting device to prompt the second information. In one example, taking the in-vehicle prompting device including a central control screen as an example, before the vehicle is controlled to pause driving, the central control screen can be controlled to display an interface 710, the interface 710 including an icon 711 indicating the vehicle, and a region 712 in the icon 711 corresponding to the vehicle body region 411. In actual implementation, the region 712 can be controlled to be highlighted, for example, the region 712 can be controlled to flash red light, to indicate that the right side of the vehicle body is tapped or knocked. In addition, the interface 710 can further include text information 713 “the right side of the vehicle body detects tapping, and is about to stop”, to prompt the in-vehicle user that the vehicle is about to stop and the reason for stopping. When the vehicle is pausing driving, the text information 713 can be changed to “the right side of the vehicle body detects tapping, and is stopping”. In another example, taking the in-vehicle prompting device including an in-vehicle sound device (such as a loudspeaker or a sound box) as an example, before the vehicle is controlled to pause driving, the in-vehicle sound device can be controlled to play an audio 720 “the vehicle is about to pause parking”. When the vehicle is pausing driving, the audio 720 can be changed to “the vehicle is pausing parking”.

[0115] The above describes in detail how to control the vehicle to stop driving and give information prompts according to the detected first action for the first vehicle body area in combination with FIG. 4 to FIG. 7. In actual implementation, the vehicle can also be controlled to stop driving and give information prompts according to the detected first human body posture in the first area. The first human body posture can be a hand posture, or can also be an upper limb posture, or can also be other body language. For example, FIG. 8 shows some human body postures provided by the embodiments of the present application for controlling the vehicle to stop. (a) of FIG. 8 shows a hand posture formed by the index finger of one hand resting on the palm of the other hand, (b) of FIG. 8 shows a hand posture formed by the palm of one hand spreading out, (c) of FIG. 8 shows a hand posture formed by the index fingers of two hands interlacing, and (d) of FIG. 8 shows a human body posture formed by the palms of two hands spreading out and the left and right forearms crossing. It should be understood that the human body postures shown in FIG. 8 are only exemplary and different human body postures can be used in actual implementation. In addition, when the first human body posture is detected in the first area, the way to control the vehicle to stop driving and give information prompts can refer to the description in the foregoing embodiments, which will not be described here.

[0116] In some implementations, after the vehicle is controlled to stop parking, the vehicle can send a notification indicating the parking state to the electronic device associated with the vehicle, so that the electronic device displays the parking state. Taking a mobile phone as an example, FIG. 9 shows a schematic diagram of the mobile phone displaying a parking state graphic user interface (GUI). When the mobile phone receives the notification that the vehicle stops parking, a pop-up card 910 as shown in (a) of FIG. 9 can be displayed, which includes the text "Parking has been paused" and "Click to enter to view the vehicle state" to prompt the user that the parking process has been paused. When the pop-up card 910 is clicked and the lock screen interface of the mobile phone is unlocked, the mobile phone opens the owner application and displays the parking interface as shown in (b) of FIG. 9. Specifically, the parking interface can display a real-time picture of the surroundings of the vehicle, and in addition, the parking interface also displays a pop-up window 920, the text 921 "Parking paused" in the pop-up window 920 is used to prompt the parking state, and the pop-up window 920 also includes a button 922 for controlling to continue the automatic parking process. When the button 922 is clicked, the mobile phone sends information for controlling the vehicle to continue parking to the vehicle, and when the vehicle receives the foregoing information and the state of the vehicle satisfies the state of continuing parking (such as all doors being closed), the vehicle is controlled to continue parking.

[0117] In some embodiments, after controlling the vehicle to stop driving, the vehicle can also be controlled to prompt a third information by an external prompting device of the vehicle, the third information indicating that the vehicle has stopped driving. For example, after the vehicle stops driving, the vehicle's horn 414 can be controlled to honk, or the vehicle's headlamp 413 can be controlled to flash at a third frequency, or the vehicle's projection device can be controlled to project light information indicating that the vehicle has stopped. The third frequency and the first frequency are different.

[0118] In some embodiments, the vehicle is controlled to stop driving in response to any one of the following: a first operation on a button at a first door of the vehicle; a duration for which the second camera of the vehicle is blocked by the user being greater than or equal to a duration threshold; or, receiving a first signal from a first device associated with the vehicle, the first signal indicating that the vehicle continues to drive.

[0119] For example, the first door can be any one of a left front door, a right front door, a left rear door, a right rear door, or a tailgate of the vehicle, the first operation can be an operation of pressing the button at the first door for a long time, or can also be an operation of double-clicking the button at the first door, or can also be other operations, the first operation can be a preset operation of the infotainment system, or can also be a user-defined operation.

[0120] For example, the duration threshold can be 3-5 seconds, or can also be other numerical values. In actual implementation, whether the second camera is blocked by the user is determined according to multiple frames of images collected by the second camera, for example, when it is determined that the user's limbs are close to and block the second camera according to consecutive multiple frames of images, it is determined that the second camera is blocked by the user, so as to reduce the probability of the second camera being detected due to being blocked by obstacles such as leaves, and reduce the probability of false triggering of the vehicle continuing to drive.

[0121] For example, the first device can include the mobile phone shown in the foregoing FIG. 9, and the first signal can be a signal sent in response to an operation of clicking the button 922; or, the first device can also be a physical key of the vehicle, and the first signal can be a signal sent in response to pressing a button of the physical key for unlocking or locking the vehicle.

[0122] In some implementations, in response to a second action on a second body region of the vehicle, or in response to a second human body gesture within the first range, the vehicle is controlled to continue driving when the vehicle is in the paused driving state. The second body region can be a region matched with a FOV of a third camera of the vehicle, and the second body region can be any one of the aforementioned body region 411, the body region 412, the body region 415, and a left body region symmetrical to the body region 411. In actual implementation, the second body region and the first body region can be the same region, and the third camera and the aforementioned first camera can be the same camera. In addition, the second action can be a patting action, or a knocking action, or other actions; the second action can be the same as the first action, or can be different. The second human body gesture can be a human body gesture different from the first human body gesture, and the second human body gesture can be a human body gesture indicating the vehicle to continue parking.

[0123] It should be noted that in actual implementation, the aforementioned first action, the second action, the first human body gesture, and the second human body gesture can be pre-set by the vehicle system, or can be customized by a user of the vehicle.

[0124] In some implementations, before the vehicle is controlled to continue driving, an out-of-vehicle prompting device of the vehicle is controlled to prompt fourth information indicating that the vehicle is about to drive when the vehicle is in the paused driving state. Further, the vehicle is controlled to continue driving at a first time after the fourth information is prompted, and a first time length is set between the first time and a time when the fourth information is prompted, and the first time length can be 3 seconds, or 5 seconds, or other time lengths. For example, before the vehicle is controlled to continue driving, the horn 414 of the vehicle is controlled to sound, or the headlamp 413 of the vehicle is controlled to flash at a fourth frequency, or the projection device of the vehicle is controlled to project light information indicating that the vehicle is about to drive. The fourth frequency and the first frequency are different frequencies.

[0125] It should be noted that the foregoing FIG. 4 to FIG. 9 are described by taking the automatic parking scenario as an example, the control method provided in the embodiments of the present application can also be applied to other low-speed driving scenarios except for automatic parking, or can also be applied to scenarios in which the vehicle is in a parking state. Exemplarily, when the vehicle is in low-speed driving, or when the vehicle is in a parking state and is preparing to start, when a tapping action or a knocking action is detected for any one of the vehicle body region 411, the vehicle body region 412, the vehicle body region 415, and the left vehicle body region symmetrical to the vehicle body region 411, the danger level is determined according to the tapping frequency, and then the vehicle control is performed according to different danger levels. For example, when the tapping frequency is low, it is determined that the danger level is low, and then the in-vehicle prompting device (such as at least one of a display device, a light device, and a sound device) is controlled to prompt relevant information, such as “the vehicle body detects tapping, please pay attention to the driving environment”, to prompt the driver of the vehicle about the action on the vehicle body, so that the driver of the vehicle pays attention to the situation around the vehicle to decide whether to control the vehicle to pause driving or pause starting; when the tapping frequency is high, it is determined that the danger level is high, and the vehicle is controlled to pause driving, or at the same time when the vehicle is controlled to pause driving, the in-vehicle prompting device is controlled to prompt relevant information, such as “the vehicle body detects tapping, the vehicle will (or is) controlled to pause driving”.

[0126] In some implementations, in the foregoing embodiments, when a tapping or knocking action is detected during vehicle driving, or when the vehicle is in a parking state and is preparing to start, but the number of taps or the number of knocks is less than or equal to a number threshold, the tapping or knocking action can be ignored, and neither the vehicle is controlled to pause driving nor relevant information is prompted. Exemplarily, the number threshold can be 2 times, or 3 times, or can also be other numerical values.

[0127] The control method provided in the embodiments of the present application controls the vehicle to pause driving according to the action on the vehicle body of the vehicle outside the vehicle, or the detected specific human body posture, which helps to improve the convenience of vehicle control, and when an unexpected situation occurs, such as when there is an obstacle around the vehicle affecting driving safety, the vehicle can be quickly controlled to stop, which helps to improve driving safety.

[0128] The foregoing embodiments take the first range as an example, which is a range outside the vehicle contour, to illustrate the method of controlling the vehicle to stop or continue driving. In some implementations, the vehicle can also control the vehicle to stop or continue driving according to the human body posture inside the vehicle cabin. For example, the camera inside the vehicle cabin can also capture images, and when the vehicle meets at least one of the following conditions and the images inside the cabin indicate that a specific human body posture exists inside the cabin, the vehicle is controlled to stop: the driving speed of the vehicle is less than or equal to a speed threshold, the vehicle is driving under the control of an automatic parking function, or the main driver position of the vehicle is unoccupied. Exemplarily, the foregoing specific human body posture detected inside the cabin can include one or more human body postures shown in FIG. 8, or can also be other postures. Further, when the vehicle is in a stopped state, the vehicle can also be controlled to continue driving according to the human body posture detected inside the vehicle cabin.

[0129] In various embodiments of the present application, the terms and / or descriptions of various embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0130] The method provided by the embodiments of the present application is described in detail above in combination with FIGS. 1 to 9. The device provided by the embodiments of the present application will be described in detail below in combination with FIGS. 10 and 11. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments, and therefore, the content not described in detail can be referred to the method embodiments described above, which will not be described here again for the sake of brevity.

[0131] FIG. 10 shows a schematic block diagram of a control device 2000 provided by the embodiments of the present application, which can include units for performing the methods described in the foregoing embodiments. Also, each unit in the device 2000 is used to implement the corresponding flow of the method embodiments described above. The device 2000 includes an acquisition unit 2010, which can be used to implement the corresponding data acquisition or transceiving function. The device 2000 further includes a processing unit 2020, which can be used to implement the corresponding processing function.

[0132] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data, and the processing unit 2020 can read the instructions and / or data in the storage unit to enable the device to implement the related actions in the foregoing various method embodiments.

[0133] It should be understood that the specific process of each unit performing the corresponding steps described above has been described in detail in the method embodiments described above, and therefore, will not be described here again for the sake of brevity.

[0134] It should also be understood that the apparatus 2000 is embodied in the form of a functional block diagram. The terms "module" or "unit" herein can refer to an application-specific ASIC, an electronic circuit, a processor (shared, dedicated, or group) and memory that execute one or more software or firmware programs, a combined logic circuit and a suitable component that support the described functions, and so on.

[0135] The apparatus of each of the above solutions has the function of implementing the corresponding steps in the above method. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor, for performing the related processing operations in each method embodiment.

[0136] Exemplarily, the acquisition unit 2010 and the processing unit 2020 can be arranged in the vehicle 100 shown in FIG. 1, or can also be arranged in the system shown in FIG. 2, and more specifically, the acquisition unit 2010 and the processing unit 2020 can be arranged in the planning control module 220. Exemplarily, the operations performed by the acquisition unit 2010 and the processing unit 2020 can be performed by one processor, or can also be performed by different processors. In a specific implementation process, the one or more processors can be the processor arranged in the vehicle 100 shown in FIG. 1; or the apparatus 2000 can be a chip arranged in the vehicle 100.

[0137] In a specific implementation process, each unit in the above apparatus can be integrated together or can also be independently implemented. In one implementation, these units are integrated together to be implemented in the form of a system on a chip (SoC).

[0138] FIG. 11 is another schematic block diagram of a control apparatus provided by an embodiment of the present application. The apparatus 2100 shown in FIG. 11 can include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected through an internal connection path. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the method in each of the above embodiments. Alternatively, the memory 2130 can be coupled to the processor 2110 through an interface, or can be integrated with the processor 2110.

[0139] It should be noted that the transceiver 2120 can include, but is not limited to, a transceiving device such as an input / output interface to enable communication between the apparatus 2100 and other devices or communication networks.

[0140] The memory 2130 can be a volatile memory and / or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically EPROM (EEPROM), or a flash memory, for example. The volatile memory can be a random access memory (RAM). The RAM can be used as the external cache. The RAM includes a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM), for example, without limitation.

[0141] The transceiver 2120 uses a transceiving device such as, but not limited to, a transceiver to enable communication between the apparatus 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0142] The embodiments of the present application also provide an intelligent driving device, which includes the apparatus 2000 or the apparatus 2100 in the above embodiments.

[0143] The embodiments of the present application also provide a computer program product, which includes computer program code, when the computer program code is run on a computer, the computer is enabled to implement the methods in the above embodiments of the present application.

[0144] The embodiment of the present application further provides a computer readable storage medium, which stores computer instructions, and when the computer instructions run on a computer, the computer implements the method in the above-mentioned embodiments of the present application.

[0145] The embodiment of the present application further provides a chip, which comprises a circuit for executing the method in the above-mentioned embodiments of the present application.

[0146] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-mentioned system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0147] In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" herein is a description of the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent: A alone, A and B exist at the same time, and B alone. In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0148] In the embodiments of the present application, the prefix words such as "first", "second" are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as ordinal words in the embodiments of the present application does not constitute a limitation on the described objects, and the description of the described objects should refer to the description of the context in the claims or embodiments, and should not constitute an unnecessary limitation because of the use of such prefix words.

[0149] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-mentioned device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual objects can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0150] In each embodiment of the present application, the terms and / or descriptions among various embodiments are consistent and can be mutually referred to if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0151] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0152] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit.

[0153] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method characterized by, The method comprises: obtaining perception information of a vehicle; controlling the vehicle to pause driving when the perception information indicates that there is a first action for a first body region of the vehicle, or when the perception information indicates that there is a first human body posture within a first range of the vehicle.

2. The method of claim 1, wherein, The method further comprises: controlling an external prompt device of the vehicle to prompt first information before or when the vehicle is controlled to pause driving, the first information indicating that a signal for controlling the vehicle to pause driving has been received.

3. The method of claim 2, wherein, The control of the external prompt device of the vehicle to prompt the first information comprises: controlling a first prompt device corresponding to the first body region to prompt the first information; or controlling a second prompt device corresponding to a first region to prompt the first information, the first region being a region in which the first human body posture is detected.

4. The method according to claim 2 or 3, characterized in that, The external prompt device comprises at least one of a headlamp, a first projection device for projecting to the outside of the vehicle, an external sound device, and a tail lamp; and the control of the external prompt device of the vehicle to prompt the first information comprises at least one of: controlling the headlamp to display light that flashes at a first frequency; controlling the first projection device to project light information; controlling the external sound device to sound a horn; or controlling the tail lamp to display light that flashes at a second frequency.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: controlling an in-vehicle prompt device of the vehicle to prompt second information before or when the vehicle is controlled to pause driving when the perception information indicates the first action, the second information indicating at least one of: that the vehicle is about to or is pausing driving, a reason for the vehicle to pause driving, or a reason for the vehicle to pause driving.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: controlling the external prompt device of the vehicle to prompt third information after the vehicle is controlled to pause driving, the third information indicating that the vehicle has paused driving.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: controlling the vehicle to continue driving when the vehicle is in a paused driving state in response to any one of: a second action for a second body region of the vehicle; a second human body posture within the first range; a first operation of a button at a first door of the vehicle; a second camera device of the vehicle being blocked by a user for a duration greater than or equal to a duration threshold; or receiving a first signal from a first device associated with the vehicle, the first signal indicating that the vehicle is to continue driving.

8. The method of claim 7, wherein, The method further comprises: controlling the external prompt device of the vehicle to prompt fourth information before the vehicle is controlled to continue driving, the fourth information indicating that the vehicle is about to drive.

9. The method according to any one of claims 1 to 8, characterized in that, The perception information comprises information collected by a first camera device, and the first body region matches a field of view (FOV) of the first camera device.

10. The method according to any one of claims 1 to 9, characterized in that, The control of the vehicle to pause driving comprises: controlling the vehicle to pause driving when a speed of the vehicle is less than or equal to a speed threshold.

11. The method according to any one of claims 1 to 10, characterized in that, The control of the vehicle to pause driving comprises: controlling the vehicle to pause driving when the vehicle is driving under control of an automatic parking function.

12. The method according to any one of claims 1 to 11, characterized in that, The control of the vehicle to pause driving comprises: control the vehicle to pause driving when the main driving position of the vehicle is unoccupied.

13. The method according to any one of claims 1 to 12, characterized in that, the first range includes any one of: a range at a first distance from an outer contour of the vehicle; a range between a center of a circle and the outer contour of the vehicle, the center being an origin of a vehicle coordinate system associated with the vehicle, and the circle having a second distance as a radius, the second distance being greater than a maximum distance between the origin and the outer contour of the vehicle; or, a sensing range of a sensor that collects the sensing information, the sensing information indicating an environmental feature outside a cabin of the vehicle, the vehicle including the sensor.

14. A control device characterized by comprising: comprise: an obtaining unit, configured to obtain sensing information of a vehicle; a processing unit, configured to control the vehicle to pause driving when the sensing information indicates that a first action is directed to a first body region of the vehicle, or when the sensing information indicates that a first human body posture is within a first range of the vehicle.

15. The apparatus of claim 14, wherein, the processing unit is further configured to: control an out-of-vehicle prompting device of the vehicle to prompt first information before or when the vehicle is controlled to pause driving, the first information indicating that a signal for controlling the vehicle to pause driving has been received.

16. The apparatus of claim 15, wherein, the processing unit is configured to: control a first prompting device corresponding to the first body region to prompt the first information; or control a second prompting device corresponding to a first region to prompt the first information, the first region being a region in which the first human body posture is detected.

17. The apparatus of claim 15 or 16, wherein, the out-of-vehicle prompting device includes at least one of a headlamp, a first projection device for projecting to an outside of the vehicle, an out-of-vehicle sound device, and a tail lamp, and the processing unit is configured to perform at least one of: control the headlamp to display light that flashes at a first frequency; control the first projection device to project light information; control the out-of-vehicle sound device to sound a horn; or control the tail lamp to display light that flashes at a second frequency.

18. The apparatus of any one of claims 14-17, wherein, the processing unit is further configured to: when the sensing information indicates the first action, control an in-vehicle prompting device of the vehicle to prompt second information before or when the vehicle is controlled to pause driving, the second information indicating at least one of: that the vehicle is about to or is pausing driving, a reason for pausing driving, or a reason for pausing driving.

19. The apparatus of any one of claims 14-18, wherein, the device further comprises: control the out-of-vehicle prompting device of the vehicle to prompt third information after the vehicle is controlled to pause driving, the third information indicating that the vehicle has paused driving.

20. The apparatus of any one of claims 14-19, wherein, the processing unit is further configured to: when the vehicle is in a paused driving state, control the vehicle to continue driving in response to any one of: a second action directed to a second body region of the vehicle; a second human body posture within the first range; a first operation of a button at a first door of the vehicle; a second camera device of the vehicle being blocked by a user for a duration greater than or equal to a duration threshold; or a first signal from a first device associated with the vehicle, the first signal indicating that the vehicle is to continue driving. the processing unit is further configured to:

21. The apparatus of claim 20, wherein, ​ Before controlling the vehicle to continue driving, controlling an out-of-vehicle prompting device of the vehicle to prompt fourth information, the fourth information indicating that the vehicle is about to drive.

22. The apparatus of any one of claims 14-21, wherein, The perception information comprises information collected by a first camera, and the first vehicle body region matches a field of view (FOV) of the first camera.

23. The apparatus of any one of claims 14-22, wherein, The processing unit is configured to: When the speed of the vehicle is less than or equal to a speed threshold, controlling the vehicle to pause driving.

24. The apparatus of any of claims 14 to 23, wherein, The processing unit is configured to: When the vehicle is driving under control of an automatic parking function, controlling the vehicle to pause driving.

25. The apparatus of any one of claims 14-24, wherein, The processing unit is configured to: When the main driver position of the vehicle is unoccupied, controlling the vehicle to pause driving.

26. The apparatus of any one of claims 14-25, wherein, The first range comprises any one of: a range at a first distance from an outer contour of the vehicle; a range between a circle with a center at an origin of a vehicle coordinate system associated with the vehicle and a radius of a second distance and the outer contour of the vehicle, the second distance being greater than a maximum distance between the origin and the outer contour of the vehicle; or or a perception range of a sensor that collects the perception information, the perception information indicating an environmental feature outside a cabin of the vehicle, the vehicle comprising the sensor.

27. A control device characterized by comprising: The apparatus comprises: a processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method of any one of claims 1 to 13.

28. The apparatus of claim 27, wherein, The apparatus further comprises the memory.

29. A computer-readable storage medium, characterized in that, instructions stored thereon, the instructions, when executed by a processor, implementing the method of any one of claims 1 to 13.

30. A chip, characterized by The chip comprises circuitry configured to perform the method of any one of claims 1 to 13.

31. A computer program product, characterised in that, The computer program product comprises computer program code which, when executed by a processor, implements the method of any one of claims 1 to 13.

32. A vehicle characterized by The apparatus of any one of claims 14 to 28, or the computer readable storage medium of claim 29, or the chip of claim 30, or the vehicle loaded with the computer program product of claim 31.

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