Control method, apparatus and vehicle

Abstract

A control method, an apparatus and a vehicle. The method comprises: acquiring obstacle information and motion state information of a vehicle, the obstacle information indicating the position of a first obstacle relative to the vehicle, the speed of the first obstacle, and the motion direction of the first obstacle, and the motion state information indicating the speed and the motion direction of the vehicle; on the basis of the obstacle information and the motion state information, determining an obstacle avoidance policy for the vehicle to avoid the first obstacle; and, when the obstacle avoidance policy satisfies a first condition, controlling a first light apparatus to give a warning of first information, and / or controlling a first sound production apparatus to give a warning of second information, the first light apparatus being a light apparatus outside a cabin of the vehicle, and the first sound production apparatus being a sound production apparatus outside the cabin of the vehicle. The present technical solution can be applied to the field of vehicle safety associated with intelligent vehicles such as electric vehicles and new energy vehicles, and helps to reduce the risk of collision between a host vehicle and an obstacle in the event of obstacle avoidance failure of the vehicle, thereby improving the success rate of the host vehicle avoiding the obstacle.

Description

Control method, device and vehicle

[0001] The present application claims priority to the Chinese patent application No. 202411322359.0, filed on September 20, 2024, entitled "Control method, device and vehicle", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of vehicle safety, and more particularly, to a control method, device and vehicle. BACKGROUND

[0003] With the development of vehicles towards intelligence and automation, more and more vehicles are equipped with intelligent driving systems to reduce driving stress and improve safety. The intelligent driving system includes many active safety functions, such as autonomous emergency braking (AEB) function, autonomous emergency steering (AES) function, etc., which can actively control the vehicle to avoid obstacles to improve driving safety.

[0004] However, the active safety function of the current intelligent driving system may not be able to control the ego vehicle to avoid obstacles in the case of sudden appearance of obstacles. Taking AEB as an example, in the case of high vehicle speed, the vehicle braking distance is insufficient, and AEB may not be able to control the vehicle to stop in time to avoid collision.

[0005] In view of this, for the foregoing scenario, a control scheme capable of reducing the risk of collision is urgently needed to be developed. SUMMARY

[0006] The present application provides a control method, device and vehicle, which helps to reduce the risk of collision between the ego vehicle and obstacles, thereby improving the success rate of obstacle avoidance of the ego 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 also can be executed by a chip or circuit for the vehicle.

[0008] The method comprises: acquiring obstacle information and motion state information of the vehicle, the obstacle information indicating a position of a first obstacle relative to the vehicle, a speed of the first obstacle, and a motion direction of the first obstacle, and the motion state information indicating a speed and a motion direction of the vehicle; determining an obstacle avoidance strategy of the vehicle for avoiding the first obstacle according to the obstacle information and the motion state information; and when the obstacle avoidance strategy meets a first condition, controlling a first light device to prompt first information and / or controlling a first sound device to prompt second information, the first information and / or the second information being used to prompt that the vehicle and the first obstacle have a collision risk, wherein the first light device is a light device outside a cabin of the vehicle, and the first sound device is a sound device outside the cabin of the vehicle.

[0009] In some implementations, after determining that the vehicle has a collision risk with the first obstacle, the obstacle avoidance strategy of the vehicle for avoiding the first obstacle is determined. In yet some implementations, the obstacle avoidance strategy of the vehicle for avoiding the first obstacle is determined when the first obstacle is detected.

[0010] In some implementations, the obstacle avoidance strategy can be a strategy for avoiding the first obstacle by an active safety function of the vehicle, or the obstacle avoidance strategy can be a strategy for avoiding the first obstacle by predicted driving of a driver, or the obstacle avoidance strategy can be a strategy for avoiding the first obstacle by other methods.

[0011] In the above technical solution, when a collision between the ego vehicle and the obstacle cannot be avoided, or when the collision risk between the ego vehicle and the obstacle is relatively high, the external prompt device of the ego vehicle is controlled to prompt information to prompt the obstacle to actively avoid the ego vehicle, which helps to reduce the risk of collision between the ego vehicle and the obstacle, thereby improving the success rate of obstacle avoidance of the ego vehicle.

[0012] In combination with the first aspect, in some implementations of the first aspect, the obstacle avoidance strategy meets the first condition, comprising: the collision between the vehicle and the first obstacle cannot be avoided by the obstacle avoidance strategy.

[0013] In some implementations, the collision between the vehicle and the obstacle cannot be avoided by the obstacle avoidance strategy can comprise: according to the motion state of the first obstacle and the motion state of the ego vehicle, it is presumed that the collision cannot be avoided when the ego vehicle avoids by the active safety function. Or, the collision between the vehicle and the obstacle cannot be avoided by the obstacle avoidance strategy can also comprise: according to the motion state of the first obstacle and the motion state of the ego vehicle, it is presumed that the collision cannot be avoided when the ego vehicle avoids in response to the operation of the driver stepping on the brake pedal and / or turning the steering wheel. In the actual deduction process, it can be assumed that the first obstacle does not actively take avoidance measures.

[0014] In the technical solution, when the self-vehicle and the obstacle cannot be avoided from colliding by the obstacle avoidance strategy, the external prompt device of the self-vehicle is controlled to perform information prompting, which helps to reduce the personal and property losses caused by the collision, and reduces the probability of disturbing people caused by the false triggering of the external prompt device when the self-vehicle can avoid the obstacle.

[0015] In combination with the first aspect, in some implementations of the first aspect, the obstacle avoidance strategy satisfies the first condition, including: the current time is later than the latest time when the obstacle avoidance strategy is enabled, or the current time is earlier than the latest time, and the time length between the latest time and the current time is less than or equal to the time length threshold.

[0016] In some implementations, the current time can be understood as the time when the obstacle avoidance strategy is determined according to the obstacle information and the motion state information; or the current time can also be the time when it is determined that the obstacle avoidance strategy satisfies the first condition.

[0017] The starting of the obstacle avoidance strategy can include enabling the active safety function to control the speed and / or lateral deviation of the vehicle; or the starting of the obstacle avoidance strategy can include controlling the speed of the vehicle in response to the change of the opening degree of the deceleration pedal, and / or controlling the lateral deviation of the vehicle in response to the change of the steering wheel angle.

[0018] When the obstacle avoidance strategy is a strategy of avoiding the first obstacle by predicting the driving of the driver, the latest time can be determined according to the historical driving data of the driver, for example, the reaction time of the driver is determined according to the historical driving data of the driver, and then the latest time is determined according to the first time, the reaction time, and the time length required for the vehicle to brake or turn to avoid the obstacle. The first time is the time when the vehicle and the first obstacle collide without using the obstacle avoidance strategy.

[0019] In the technical solution, when the self-vehicle and the obstacle cannot be avoided from colliding by the obstacle avoidance strategy, the external prompt device of the self-vehicle is controlled to perform information prompting, which helps to reduce the personal and property losses caused by the collision. In the case that the self-vehicle and the obstacle can be avoided from colliding by the obstacle avoidance strategy, but the collision risk is high, the external prompt device of the vehicle is controlled to perform information prompting, which helps to reduce the panic degree of the driver and the related personnel of the first obstacle.

[0020] In combination with the first aspect, in some implementations of the first aspect, the obstacle avoidance strategy includes at least one of the following: controlling the vehicle braking by AEB; controlling the vehicle turning by AES; controlling the vehicle braking and / or turning by the lateral and longitudinal control function; controlling the vehicle braking in response to the change of the opening degree of the deceleration pedal, or controlling the vehicle turning in response to the change of the steering wheel angle.

[0021] Wherein, the "longitudinal direction" refers to a direction in a plane parallel to the ground, which is parallel to a longitudinal symmetry plane of the vehicle; and the "transverse direction" refers to a direction in the plane parallel to the ground, which is perpendicular to the longitudinal symmetry plane of the vehicle.

[0022] With reference to the first aspect, in some implementations of the first aspect, the control of the first light device to prompt the first information comprises: controlling the first light device to prompt the first information when a second condition is met; and wherein the second condition comprises any one of: the light brightness of the environment in which the vehicle is located is less than or equal to a first brightness threshold; the current time is in a first time period, the first time period being a time period in which the brightness of natural light is less than or equal to a second brightness threshold; or the light brightness of the environment in which the vehicle is located is greater than the first brightness threshold, the current time is not in the first time period, and the first light device is configured to allow the first information to be prompted when the light brightness is greater than the first brightness threshold and the current time is not in the first time period.

[0023] Exemplarily, the first time period can be a night time period, or a time period from the setting of the sun to the rising of the sun.

[0024] In the above technical solution, when the environment light brightness is less than or equal to a certain threshold, and / or when the time period is in which the brightness of natural light is less than or equal to a certain threshold, the light device outside the vehicle is controlled to emit a light signal when the aforementioned first condition is met through the obstacle avoidance strategy, which helps to ensure the eye-catching degree of the light signal, improve the receiving rate of the light signal by the first obstacle, and thus improve the success rate of obstacle avoidance of the vehicle; and in a high light brightness environment, information prompting is not performed through the light device outside the vehicle, which can reduce the energy consumption of the vehicle for information prompting. If the first light device is configured to emit a light signal in response to the deduction result that the first condition is met by the obstacle avoidance strategy in any time period or light brightness condition, it helps to reduce the complexity of the control logic of the light device, and in some scenarios (such as scenarios in which prompting through the vehicle horn is not possible), it helps to improve the receiving rate of the prompted information by the first obstacle, and thus improve the success rate of obstacle avoidance of the vehicle.

[0025] With reference to the first aspect, in some implementations of the first aspect, the first light device comprises a light device corresponding to the position of the first obstacle.

[0026] In some implementations, when the first obstacle is located in front of the vehicle, the first light device can be a headlamp of the vehicle, the first light device can switch between high beam and low beam, or can also perform double-flash prompting; or when the first obstacle is located behind the vehicle, the first light device can be a tail lamp of the vehicle, the first light device can perform double-flash prompting, or can also perform other prompting. It can be understood that when the first obstacle is located in front of the vehicle, the driving direction of the vehicle is to drive towards the front direction; and when the first obstacle is located behind the vehicle, the driving direction of the vehicle is to drive towards the rear direction.

[0027] In the technical solution, the light device corresponding to the first obstacle is controlled to send the light information, which helps to improve the success rate of the first obstacle receiving the light information, thereby reducing the risk of collision between the vehicle and the first obstacle.

[0028] With reference to the first aspect, in some implementations of the first aspect, the control of the first sound device to prompt the second information comprises: when a third condition is met, the first sound device is controlled to prompt the second information; the third condition comprises any one of the following: the area where the vehicle is located is not an area where honking is prohibited; or, the area where the vehicle is located is an area where honking is prohibited, and the first sound device is configured to allow the second information to be prompted in the area where honking is prohibited.

[0029] In some implementations, the first sound device can be an external horn of the vehicle, or can also be other loudspeakers outside the vehicle.

[0030] In the technical solution, when the vehicle is in a non-honking prohibited area, the horn is controlled to honk when the obstacle avoidance strategy meets the first condition, which helps to improve the probability of the first obstacle receiving the prompt information, thereby reducing the risk of collision between the vehicle and the first obstacle; and when the vehicle is in a honking prohibited area, no information is prompted through the external sound device, which can avoid the vehicle violating the law. If the first sound device is configured to send a sound signal in response to the result of deducing that the obstacle avoidance strategy meets the first condition at any time, it helps to reduce the complexity of the control logic of the light device, and in some scenarios (such as when the first obstacle has a low success rate of receiving the prompt information through the external light device), it helps to improve the receiving rate of the first obstacle to the prompt information, thereby improving the success rate of the vehicle avoiding obstacles.

[0031] With reference to the first aspect, in some implementations of the first aspect, the control of the first light device to prompt the first information, and / or the control of the first sound device to prompt the second information comprises: according to the type of the first obstacle and the movement direction of the first obstacle, the first light device is controlled to prompt the first information, and / or the first sound device is controlled to prompt the second information.

[0032] In some implementations, the type of the first obstacle can be determined by processing perception information collected by sensors of the vehicle, for example, when the perception information is an image, the type of the first obstacle can be determined by image recognition processing of the image.

[0033] In some implementations of the first aspect, the first information is prompted by the first light device according to the type of the first obstacle and the moving direction of the first obstacle, including: when the type of the first obstacle indicates that the first obstacle includes a rearview mirror, and the moving direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is driving forward, the first information is prompted by the first light device.

[0034] The forward driving refers to driving of the vehicle in the direction of the head of the vehicle.

[0035] In the above technical solution, when the first obstacle is located in front of the vehicle, the vehicle is driving forward, and the driving directions of the first obstacle and the vehicle are the same, if the first obstacle includes a rearview mirror, the self-vehicle light signal can be received by the driver of the first obstacle through the rearview mirror of the first obstacle regardless of the brightness of the environment in which the vehicle and the first obstacle are located, so as to improve the receiving rate of the first obstacle to the prompted information, thereby improving the obstacle avoidance success rate of the vehicle.

[0036] In some implementations of the first aspect, the second information is prompted by the first sound device according to the type of the first obstacle and the moving direction of the first obstacle, including: when the type of the first obstacle indicates that the first obstacle does not include a rearview mirror, and the moving direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is driving forward, the second information is prompted by the first sound device.

[0037] In the above technical solution, when the first obstacle is located in front of the vehicle, the vehicle is driving forward, and the driving directions of the first obstacle and the vehicle are the same, if the first obstacle does not include a rearview mirror, the success rate of the self-vehicle light signal being received by the first obstacle is relatively low regardless of the brightness of the environment in which the vehicle and the first obstacle are located, so as to ensure the receiving rate of the first obstacle to the prompted information, thereby improving the obstacle avoidance success rate of the vehicle.

[0038] In some implementations of the first aspect, the method further includes: when the first information is prompted by the first light device and / or the second information is prompted by the first sound device, the vehicle is controlled to brake and / or turn to the first direction.

[0039] In some implementations, the vehicle braking and / or turning can be controlled by the aforementioned active safety functions (such as AEB, AES, etc.); or, the vehicle braking or turning can also be controlled in response to the detection result that the accelerator pedal is stepped on or the steering wheel is turned.

[0040] In the above technical solution, the vehicle is controlled to brake and / or turn while the prompting device outside the vehicle is controlled to prompt the information, so as to avoid collision as much as possible, thereby improving the obstacle avoidance success rate of the vehicle and the driving safety.

[0041] With reference to the first aspect, in some implementations of the first aspect, the method further includes: controlling a first turn light of the vehicle to flash when the vehicle is controlled to turn in the first direction, the first turn light being located on the vehicle in a position matching the first direction.

[0042] Exemplarily, if the first direction is the left side of the vehicle, the first turn light is a left turn light; if the first direction is the right side of the vehicle, the first turn light is a right turn light.

[0043] In the above technical solution, the first turn light is controlled to flash while the vehicle is turning, which helps to prompt the first obstacle about the direction of vehicle avoidance, and also prompts other obstacles on the target turning side of the vehicle to avoid the vehicle, thereby improving the driving safety of the vehicle.

[0044] The second aspect provides a control device, which includes an acquisition unit and a processing unit, the acquisition unit is configured to: acquire obstacle information and motion state information of the vehicle, the obstacle information indicating a position of a first obstacle relative to the vehicle, a speed of the first obstacle and a motion direction of the first obstacle, the motion state information indicating a speed and a motion direction of the vehicle; the processing unit is configured to: determine an obstacle avoidance strategy of the vehicle avoiding the first obstacle; when the obstacle avoidance strategy satisfies a first condition, control a first light device to prompt first information, and / or control a first sound device to prompt second information, the first information and / or the second information being used to prompt that the vehicle and the first obstacle have a collision risk; wherein the first light device is a light device outside a cabin of the vehicle, and the first sound device is a sound device outside the cabin of the vehicle.

[0045] With reference to the second aspect, in some implementations of the second aspect, the obstacle avoidance strategy satisfies the first condition, including: the vehicle and the first obstacle cannot be avoided from colliding through the obstacle avoidance strategy.

[0046] With reference to the second aspect, in some implementations of the second aspect, the obstacle avoidance strategy satisfies the first condition, including: a current time is later than a latest time when the obstacle avoidance strategy is enabled, or the current time is earlier than the latest time, and a time length between the latest time and the current time is less than or equal to a time length threshold.

[0047] With reference to the second aspect, in some implementations of the second aspect, the obstacle avoidance strategy includes at least one of: controlling the vehicle to brake through AEB; controlling the vehicle to turn through AES; controlling the vehicle to brake and / or turn through a lateral and longitudinal control function; controlling the vehicle to brake in response to a change in opening degree of a deceleration pedal, or controlling the vehicle to turn in response to a change in turning angle of a steering wheel.

[0048] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the first light device to prompt the first information when a second condition is met; and wherein the second condition comprises any one of: the light brightness of the environment where the vehicle is located is less than or equal to a first brightness threshold; the current time is in a first time period, the first time period being a time period during which the brightness of the natural light is less than or equal to a second brightness threshold; or the light brightness of the environment where the vehicle is located is greater than the first brightness threshold, the current time is not in the first time period, and the first light device is configured to allow the first information to be prompted when the light brightness is greater than the first brightness threshold and the current time is not in the first time period.

[0049] With reference to the second aspect, in some implementations of the second aspect, the first light device comprises a light device corresponding to the position of the first obstacle.

[0050] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the first sound device to prompt the second information when a third condition is met; and wherein the third condition comprises any one of: the area where the vehicle is located is not an area where sounding is prohibited; or the area where the vehicle is located is an area where sounding is prohibited, and the first sound device is configured to allow the second information to be prompted in the area where sounding is prohibited.

[0051] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the first light device to prompt the first information and / or control the first sound device to prompt the second information according to the type of the first obstacle and the movement direction of the first obstacle.

[0052] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the first light device to prompt the first information when the type of the first obstacle indicates that the first obstacle comprises a rearview mirror, and the movement direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is driving in a forward direction.

[0053] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the first sound device to prompt the second information when the type of the first obstacle indicates that the first obstacle does not comprise a rearview mirror, and the movement direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is driving in a forward direction.

[0054] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the vehicle to brake and / or control the vehicle to turn in the first direction when the first light device is controlled to prompt the first information and / or the first sound device is controlled to prompt the second information.

[0055] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to control a first turn signal of the vehicle to flash when the vehicle is controlled to turn in the first direction, the first turn signal being located on the vehicle in a position that matches the first direction.

[0056] A third aspect provides a control device, comprising: a processor configured to execute a computer program stored in a memory, so as to cause the device to perform the method in any possible implementation of the first aspect.

[0057] With reference to the third aspect, in some implementations of the third aspect, the device further comprises the memory.

[0058] A fourth aspect provides a computer program product, which comprises computer program codes, and when the computer program codes are run on a computer or a processor, the computer or the processor performs the method in any possible implementation of the first aspect.

[0059] It should be noted that the computer program codes can be stored in the storage medium in whole or in part, and the storage medium can be packaged together with the processor or packaged separately from the processor.

[0060] A fifth aspect provides a computer readable storage medium, which stores instructions, and when the instructions are executed by a processor, the processor implements the method in any possible implementation of the first aspect.

[0061] A sixth aspect provides a chip, which comprises a circuit configured to perform the method in any possible implementation of the first aspect.

[0062] A seventh aspect provides a vehicle, which comprises the device 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 codes in any possible implementation of the fourth aspect.

[0063] With reference to the seventh aspect, in some implementations of the seventh aspect, the vehicle is a vehicle in a broad sense, for example, can be a traffic tool (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 traffic tool, a water traffic tool, an air traffic tool, an industrial device, an agricultural device, or an entertainment device, etc.

[0064] The beneficial effects not described in detail in the second aspect to the seventh aspect can be referred to the description in the first aspect, which will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0065] FIG. 1 is a functional schematic block diagram of a vehicle according to an embodiment of the present application;

[0066] FIG. 2 is a schematic block diagram of a control system architecture according to an embodiment of the present application;

[0067] FIG. 3 is a schematic flowchart of a control method according to an embodiment of the present application;

[0068] FIG. 4 is a schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0069] FIG. 5 is another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0070] FIG. 6 is still another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0071] FIG. 7 is a schematic diagram of a GUI according to an embodiment of the present application;

[0072] FIG. 8 is still another schematic flowchart of a control method according to an embodiment of the present application;

[0073] FIG. 9 is a schematic block diagram of a control device according to an embodiment of the present application;

[0074] FIG. 10 is another schematic block diagram of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0075] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0076] 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 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.

[0077] The prompting device 130 can include any one of a sound-emitting device and a light-emitting device. The sound-emitting device can include an external horn, an external speaker, an external sound system, etc. The light-emitting device is used to display light, which can include one or more of the headlamps of the vehicle, including low beam, high beam, and turn signal. In some implementations, the light-emitting device can also include one or more pixelated car lights, which can include but are not limited to a light-emitting device based on digital light processing (DLP) technology, a light-emitting device based on micro light emitting diode (Micro-LED) technology, or a light-emitting device based on liquid crystal display (LCD). The pixelated car light can be used to project a specific pattern to the ground or buildings around the vehicle to prompt other road users in the road with relevant information.

[0078] 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.

[0079] 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.

[0080] 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 is non-automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. The tasks of monitoring the road conditions and responding 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 to 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.

[0081] In this application, the perception system 120 can perceive the motion state of the obstacle around the vehicle, and the computing platform 150 can determine whether the motion trajectory of the obstacle in the driving direction of the vehicle and the driving path of the vehicle will conflict according to the motion state of the obstacle and the motion state of the vehicle. When the motion trajectory of the obstacle in the driving direction of the vehicle and the driving path of the vehicle will conflict, and the collision cannot be avoided by active safety functions such as AEB and AES, the computing platform 150 controls the prompt device 130 to prompt relevant information to make the obstacle avoid the vehicle.

[0082] FIG. 2 shows a schematic block diagram of a control system architecture according to an embodiment of the present application. The system includes a perception module 210, a collision avoidance deduction module 220, a control module 230, and a prompt module 240. Specifically,

[0083] The perception module 210 can include one or more sensors in the perception system 120 shown in FIG. 1, for collecting environmental information around the vehicle, such as the position of an obstacle around the vehicle relative to the vehicle, the motion direction and speed of the obstacle, the ambient brightness of the environment in which the vehicle is located, etc. The perception module 210 can send the data it collects to the collision avoidance deduction module 220.

[0084] The collision avoidance deduction module 220 can include one or more processors in the computing platform 150 shown in FIG. 1, for determining whether there is a collision risk between the vehicle and an obstacle present in the direction of travel, and whether the collision can be avoided by active safety functions such as AEB or AES, and sending the collision deduction result to the control module 230.

[0085] The control module 230 can include one or more processors in the computing platform 150 shown in FIG. 1, for controlling the prompt module 240 to honk and / or display relevant light information when it is determined that there is a collision risk between the vehicle and an obstacle, and that the collision cannot be avoided by active safety functions such as AEB and AES. Alternatively, the control module 230 can also be configured to control the vehicle to avoid the obstacle by AEB and / or AES when there is a collision risk between the vehicle and the obstacle. In some implementations, the control module 230 can obtain map information indicating a honking prohibited area, and when the vehicle is in the honking prohibited area, if the collision cannot be avoided by active safety functions such as AEB and AES, the control module 230 can only control the prompt module 240 to display relevant light information. In yet other implementations, the control module 230 can also determine whether to control the prompt module 240 to display relevant light information according to the ambient brightness information perceived by the perception module 210, for example, when the ambient brightness is less than or equal to a brightness threshold, the control module 230 controls the prompt module 240 to display light information.

[0086] The prompt module 240 can include one or more devices in the prompt device 130 shown in FIG. 1, for executing the instructions of the control module 230 to prompt relevant information.

[0087] It should be understood that the above modules are only one example, and in actual applications, the above modules can be added or deleted as needed. For example, in the system architecture shown in FIG. 2, the control module 230 and the collision avoidance deduction module 220 can be combined into one module.

[0088] The above describes the system according to an embodiment of the present application in conjunction with FIG. 2, and the following describes in detail the control method performed based on the system shown in FIG. 2.

[0089] FIG. 3 shows an exemplary flowchart of a control method provided by the embodiments of the present application, the method 300 can be executed by the collision avoidance deduction module 220 and the control module 230 shown in FIG. 2, the method 300 comprises:

[0090] S301, obtaining obstacle information, the obstacle information indicating a position of an obstacle relative to the ego vehicle, a speed and a moving direction of the obstacle.

[0091] In some implementations, the obstacle information can be information collected by one or more sensors in the aforementioned perception system 120.

[0092] S302, determining a latest steering time T1 and a latest braking time T2 according to the obstacle information and a motion state of the ego vehicle.

[0093] In some implementations, the obstacle information indicates one or more obstacles having a distance to the vehicle less than or equal to a distance threshold, and according to the moving direction and the speed of each obstacle, it is determined whether the vehicle has a collision risk with the obstacle. The distance threshold can be any value in a range of 50 meters to 100 meters, or can also be other values, for example, the distance threshold can be determined according to the speed of the vehicle, the faster the vehicle, the greater the distance threshold, so as to discover as soon as possible the obstacle that can have a collision risk with the vehicle.

[0094] In an example, the moving direction of the obstacle having a distance to the ego vehicle less than or equal to the distance threshold is the same as the moving direction of the ego vehicle, then according to the speed of the obstacle and the speed of the vehicle, the time of collision between the vehicle and the obstacle is determined, and then T1 and / or T2 is determined according to the time. As shown in (a) of FIG. 4, the arrow in front of the ego vehicle points to the moving direction of the ego vehicle, and the arrow in front of the obstacle points to the moving direction of the obstacle, taking an example that the speed of the ego vehicle is v1, the speed of the obstacle is v2, and the distance between the ego vehicle and the obstacle when the obstacle is detected is s, then the time interval between the time of collision and the time when the obstacle is detected is s / (v1-v2). It can be understood that the sum of the time interval s / (v1-v2) and the time when the obstacle is detected is the time T of collision. Further, according to the speed of the vehicle, the time t required for the vehicle to decelerate to v3 through AEB is determined, v3 is less than or equal to v2; according to the speed of the vehicle, the time t' required for the vehicle to steer to avoid the obstacle through AES is determined. The time T minus the time t is T2, and the time T minus the time t' is T1.

[0095] In yet another example, when the moving direction of the obstacle with a distance less than or equal to the distance threshold to the ego vehicle intersects with the moving direction of the ego vehicle, a region where the moving trajectory of the obstacle and the driving trajectory of the ego vehicle coincide is determined, and then according to the speed of the obstacle and the speed of the ego vehicle, the time when the collision between the ego vehicle and the obstacle occurs in the region is determined, and then T1 and / or T2 is determined according to the time. As shown in (b) of FIG. 4, the arrow in front of the ego vehicle points to the driving direction of the ego vehicle, and the arrow in front of the obstacle points to the moving direction of the obstacle. When the obstacle moves between points A and B, and during this period, the ego vehicle drives to the straight line where A and B are located, the collision between the obstacle and the ego vehicle occurs. Taking the speed of the ego vehicle as v1, the speed of the obstacle as v2, and the distance between the ego vehicle and the straight line where A and B are located as s, the distance between the obstacle and the straight line where A and C are located as s', for example, if s / v1 is greater than or equal to s' / v2, and s / v1 is less than or equal to s'+s AB / v2, it is determined that the collision between the obstacle and the ego vehicle will occur, and the time interval between the time when the collision occurs and the time when the obstacle is detected is s / v1. It can be understood that the sum of the time interval s / v1 and the time when the obstacle is detected is the time T' when the collision occurs. Wherein, s AB is the distance between A and B. Further, according to the speed of the ego vehicle, the time t required for the ego vehicle to decelerate to 0 through AEB is determined; according to the speed of the ego vehicle and the speed of the obstacle, the time t' required for the ego vehicle to turn to avoid the obstacle through AES is determined. The time T minus the time t is T2, and the time T minus the time t' is T1.

[0096] It should be understood that in actual implementation, in addition to the two scenarios shown in FIG. 4, other scenarios can also be included, for example, the angle between the moving trajectory of the obstacle and the moving trajectory of the ego vehicle is greater than 0° and less than 90°, and the method for determining T1 and / or T2 in other scenarios can refer to the description in the foregoing two examples, which will not be described here. In addition, whether there is a collision risk between the ego vehicle and the obstacle can also be deduced by other methods.

[0097] S303, determining whether the current time T0 is earlier than T1, and the time interval between T1 and T0 is greater than the time threshold 1.

[0098] More specifically, when it is determined that the current time T0 is earlier than T1, and the time interval between T1 and T0 is greater than the time threshold 1, S305 is executed; otherwise, S304 is executed.

[0099] For example, the time threshold 1 can be any value in 0.5 seconds to 1 second, or the time threshold 1 can also be other values, for example, the time threshold 1 is associated with the speed of the ego vehicle; for another example, before S303 is executed, the AES is not enabled, and then the time threshold 2 can include the time required for enabling the AES.

[0100] S304, determining whether the current time T0 is earlier than T2 and the time interval between T2 and T0 is greater than the time threshold 2.

[0101] More specifically, when it is determined that the current time T0 is earlier than T2 and the time interval between T2 and T0 is greater than the time threshold 2, S306 is executed; otherwise, S307 is executed.

[0102] Exemplarily, the time threshold 2 can be any value in 0.5-1 second, or the time threshold 2 can also be other values, for example, the time threshold 2 is associated with the speed of the ego vehicle; for another example, before S304 is executed, the AEB is not enabled, and the time threshold 2 can include the time length required for enabling the AEB.

[0103] It should be noted that in actual implementation, S303 and S304 can also be executed synchronously, or S304 can also be executed before S303. In addition, in some scenarios, only T1 or only T2 can be determined in S302, and further, S303 and S304 can also be executed only one of them. That is, when only T1 is determined in S302, only S303 can be executed in S303 and S304; when only T2 is determined in S302, only S304 can be executed in S303 and S304. Exemplarily, when there is no lane-changing condition on the road where the vehicle is located (for example, there are obstacles on both left and right sides of the vehicle), the vehicle cannot be controlled by the AES to avoid obstacles, and thus T1 can not be determined in S302; when the friction coefficient of the road surface of the road where the vehicle is located is too small (for example, the road surface is an icy or snow-covered road surface), the deceleration of the vehicle controlled by the AEB can result in a longer braking distance than the calculated braking distance, thereby resulting in a longer obstacle avoidance time, and thus T2 can not be determined in S302.

[0104] S305, controlling the vehicle to avoid obstacles by the AES.

[0105] S306, controlling the vehicle to avoid obstacles by the AEB.

[0106] S307, controlling the prompt device to prompt the related information, and controlling the vehicle to decelerate and / or turn.

[0107] It can be understood that when T0 is later than T1, or T0 is earlier than T1 but the time interval between T0 and T1 is less than or equal to the time threshold 1, it is impossible to avoid the collision between the vehicle and the obstacle only by controlling the vehicle to turn through the AES. When T0 is later than T2, or T0 is earlier than T2 but the time interval between T0 and T2 is less than or equal to the time threshold 2, it is impossible to avoid the collision between the vehicle and the obstacle only by controlling the vehicle to decelerate through the AEB. When it is impossible to avoid the collision between the vehicle and the obstacle through the AEB and / or the AES, the control prompting device prompting the relevant information can make the obstacle actively avoid the vehicle, thereby reducing or avoiding the collision.

[0108] In some implementations, the controlling the vehicle to decelerate in S307 can be controlling the vehicle to decelerate through the AEB, and the controlling the vehicle to turn in S307 can be controlling the vehicle to turn through the AES. In yet some implementations, the vehicle deceleration in S307 can also be a result of vehicle control in response to a change in the opening degree of the deceleration pedal, and the vehicle turning in S307 can also be a result of vehicle control in response to a change in the turning angle of the steering wheel.

[0109] Exemplarily, the control prompting device prompting the relevant information can include performing at least one of the following: controlling the headlamp to switch between high beam and low beam, and controlling the horn to sound. At the same time, the hazard warning light (or double flash light) of the ego vehicle can also be controlled to turn on.

[0110] Taking the case that the vehicle is driving forward and the obstacle with the risk of collision with the vehicle is located in front of the vehicle, in some implementations, the control prompting device prompting the relevant information can be refined as follows: when the brightness of the environment in which the ego vehicle is located is greater than a brightness threshold, controlling the horn to sound; or when the brightness of the environment in which the ego vehicle is located is less than or equal to the brightness threshold, controlling the headlamp to switch between high beam and low beam and / or controlling the hazard warning light to turn on, and controlling the horn to sound. Exemplarily, the brightness threshold can be any value in 500 lux (lx) to 1000 lx, or the brightness threshold can also be other values. The brightness of the environment in which the ego vehicle is located can be measured by the brightness sensor of the vehicle. In actual implementation, whether to control the headlamp to switch between high beam and low beam can also be determined according to the current time period, for example, if the current time period is in the night period, the headlamp is controlled to switch between high beam and low beam; if the current time period is not in the night period, the headlamp is not controlled to switch between high beam and low beam. The night period can be a fixed period, for example, from 18:00 to 06:00; or the night period can also change with the sunrise and sunset, for example, the night period is the period between time 1 before sunset and time 2 after sunrise, the time interval between time 1 and the sunset time can be half an hour to one hour, and the time interval between the sunrise time and time 2 can be half an hour to one hour.

[0111] Exemplarily, as shown in (a) of FIG. 5, when the vehicle is driving in an environment with good light in the daytime, the high-beam and low-beam switching and the hazard warning light may not achieve the effect of prompting the obstacle, at this time, only the external horn can be controlled to sound. As shown in (b) of FIG. 5, when the vehicle is driving in an environment with poor light in the night, the high-beam and low-beam switching and the hazard warning light can achieve the effect of prompting the obstacle, at this time, the external horn can be controlled to sound, and the high-beam and low-beam switching of the headlamp and / or the hazard warning light can be controlled to be turned on.

[0112] In yet some implementations, the controlling the prompting device to prompt the related information can be refined as: when the region where the ego vehicle is located is a no-honking zone, controlling the high-beam and low-beam switching of the headlamp and / or controlling the hazard warning light to be turned on; or when the region where the ego vehicle is located is not a no-honking zone, controlling the high-beam and low-beam switching of the headlamp and / or controlling the hazard warning light to be turned on, and controlling the external horn to sound.

[0113] In an example, whether the vehicle is in the no-honking zone can be determined according to map information and the positioning information of the ego vehicle, wherein the map information indicates the no-honking zone, and the vehicle determines whether it is located in the no-honking zone according to the positioning information of the ego vehicle. In yet another example, the vehicle determines whether it is located in the no-honking zone according to the image of the region where the ego vehicle is located collected by the camera of the ego vehicle, for example, when the image includes the pixels of the no-honking zone, the vehicle can determine that the ego vehicle is located in the no-honking zone.

[0114] The foregoing embodiments take the obstacle as the pedestrian for example, in actual implementation, the obstacle can also be a motor vehicle with a rearview mirror, such as a car or a motorcycle, or the obstacle can also be a non-motor vehicle without a rearview mirror, such as a bicycle. Then the controlling the prompting device to prompt the related information can be refined as: controlling the prompting device to prompt the related information according to the type of the obstacle and the moving direction of the obstacle. For example, when the obstacle is a motor vehicle with a rearview mirror and the moving direction of the obstacle is the same as the driving direction of the ego vehicle, since the light signal can be received by the driver of the motor vehicle through the rearview mirror of the obstacle, the high-beam and low-beam switching of the headlamp and / or the hazard warning light is controlled to be turned on even if the brightness of the environment where the ego vehicle is located is greater than or equal to the brightness threshold. For another example, when the obstacle is a non-motor vehicle without a rearview mirror or the obstacle is a pedestrian, and the moving direction of the obstacle is the same as the driving direction of the ego vehicle, since the light signal cannot be effectively transmitted to the pedestrian or the driver of the non-motor vehicle, the external horn is controlled to sound even if the ego vehicle is in the no-honking zone.

[0115] The type of the obstacle can be determined by image recognition on the image collected by the camera of the vehicle, or the type of the obstacle can also be determined by other ways, for example, the type of the obstacle can be indicated by the driver of the ego vehicle through voice.

[0116] In addition, while controlling the steering of the ego vehicle, the steering lamp on the side to which the ego vehicle is turning can also be controlled to emit light, so as to indicate the ego vehicle's driving intention to the obstacle, so that the obstacle takes more reasonable measures to avoid the ego vehicle. For example, as shown in FIG. 6, taking the obstacle with a risk of collision with the ego vehicle as the other vehicle, if the vehicle determines that the collision cannot be avoided through AEB and AES, the vehicle can control the high beam and low beam of the headlamp to switch, control the horn to sound, and control the left turn lamp to flash while avoiding the other vehicle through steering.

[0117] In some implementations, the rules for the aforementioned control of the prompting device to prompt the relevant information can be preset by the system. In yet some implementations, which prompting device to control can be set by the user. For example, whether to sound the horn in the no-honking zone can be determined in response to the user's setting; or whether to control the headlamp to switch between high beam and low beam in poor light conditions can be determined in response to the user's setting. In an example, the user can be provided with three options of "adaptive", "rule first" and "safety first" on the configuration page of the active safety function, when the user selects "adaptive", the prompting device can be controlled to prompt the relevant information based on the rules in the foregoing embodiments when the vehicle determines that the collision cannot be avoided through AEB and AES. When the user selects "safety first", the horn can still be controlled to sound when the vehicle is in the no-honking zone and determines that the collision cannot be avoided through AEB and AES; the headlamp can still be controlled to switch between high beam and low beam and / or the hazard warning lamp can still be controlled to turn on when the time at which the collision is determined to be unavoidable through AEB and AES is not in the night period and / or the light brightness of the environment in which the vehicle is located is greater than or equal to a brightness threshold. When the user selects "rule first", the horn can be controlled not to sound when the vehicle is in the no-honking zone and determines that the collision cannot be avoided through AEB and AES; the headlamp can be controlled not to switch between high beam and low beam or the hazard warning lamp can be controlled not to turn on. That is, when the user selects "rule first", if the vehicle drives into the no-honking zone in good light in the daytime and determines that the collision cannot be avoided through AEB and AES, the vehicle can only be controlled to flash or switch between high beam and low beam. In yet another example, the user can be provided with more refined custom options on the configuration page of the active safety function, such as whether the horn can sound in the no-honking zone, whether to switch between high beam and low beam in the daytime, whether to use the double flash in the daytime, and the like.

[0118] In some implementations, the control of the prompting of the related information by the in-cabin prompting device can further include: control of the prompting of the related information by an in-cabin prompting device. Exemplarily, taking the in-cabin prompting device including a center screen as an example, FIG. 7 shows a schematic diagram of an application scenario of the control method and a graphic user interface (GUI) involved according to an embodiment of the present application. As shown in FIG. 7, if it is deduced by the method 300 that the collision between the ego vehicle and the front obstacle 701 cannot be avoided by the active safety function, the content in the lower black box in FIG. 7 can be displayed on the center screen. Specifically, the content can include a vehicle icon 702, an obstacle icon 703, and a collision indication icon 704, wherein the obstacle icon 703 is used to indicate the type of the obstacle 701, the relative positions of the vehicle icon 702 and the obstacle icon 703 are used to indicate the position of the obstacle 701 relative to the ego vehicle, and the collision indication icon 704 is used to prompt the collision risk between the ego vehicle and the obstacle 701. In addition, the text 705 "collision risk exists in front of the vehicle, please pay attention!" can also be displayed on the center screen. Further, while the content shown in FIG. 7 is displayed on the center screen, at least one of the following can also be performed: control of the prompting of the audio "collision risk exists in front of the vehicle, please pay attention!" by a sound emitting device (such as a speaker, a sound box, etc.) in the cabin, and control of the display of warning light by a light device (such as an atmosphere lamp) in the cabin.

[0119] It should be understood that the GUI shown in FIG. 7 is only an exemplary illustration, and in actual implementation, when the collision risk is prompted by the vehicle-mounted display device, the interface displayed by the vehicle-mounted display device can also include different elements from those shown in FIG. 7.

[0120] It should be noted that the above embodiments are all described taking the forward driving of the vehicle (i.e., driving in the direction of the vehicle head) as an example. In actual implementation, the driving direction of the vehicle can also be reverse driving (i.e., driving in the direction of the vehicle tail), and when the vehicle is driving in reverse, the obstacle with the collision risk with the vehicle is located at the rear of the vehicle (i.e., in the tail direction). It should also be noted that in the foregoing embodiments, the deducing of whether the vehicle can avoid the obstacle is based on the AEB and AES functions of the vehicle, and in actual implementation, the deducing of whether the vehicle can avoid the obstacle can also be based on other active safety functions that can control the vehicle in the longitudinal direction and / or the lateral direction.

[0121] FIG. 8 shows another exemplary flowchart of the control method according to an embodiment of the present application, which can be performed by the vehicle 100 shown in FIG. 1 or by the control module 230 shown in FIG. 2. Specifically, the method can include:

[0122] S810, obtaining obstacle information and motion state information of the vehicle, the obstacle information indicating a position of a first obstacle relative to the vehicle, a speed of the first obstacle, and a motion direction of the first obstacle, and the motion state information indicating a speed and a motion direction of the vehicle.

[0123] For example, the obstacle information can include the obstacle information in the method 300, and the motion state information can include the information of the motion state of the ego vehicle in the method 300.

[0124] S820, determining, according to the obstacle information and the motion state information, an obstacle avoidance strategy for the vehicle to avoid the first obstacle.

[0125] In some implementations, the obstacle avoidance strategy includes at least one of the following: controlling the vehicle braking by AEB; controlling the vehicle steering by AES; controlling the vehicle braking and / or steering by a lateral and longitudinal control function; controlling the vehicle braking in response to a change in the opening degree of a deceleration pedal, or controlling the vehicle steering in response to a change in the steering angle of a steering wheel.

[0126] In some implementations, determining the obstacle avoidance strategy can include: determining a latest time for enabling an active safety function (such as AEB, AES, etc.) to avoid the first obstacle; or determining a latest time for the vehicle to avoid the first obstacle by the driver stepping on the deceleration pedal or turning the steering wheel.

[0127] S830, when the obstacle avoidance strategy satisfies a first condition, controlling the first light device to prompt first information, and / or controlling the first sound device to prompt second information.

[0128] The first information and / or the second information are used to prompt that the vehicle and the first obstacle have a collision risk. The first light device is a light device outside the cabin of the vehicle, and the first sound device is a sound device outside the cabin of the vehicle. For example, the first light device can include the headlamp, the tail lamp, etc. in the foregoing embodiments, and the first sound device can include the external horn or the external loudspeaker, etc. in the foregoing embodiments.

[0129] For example, the first obstacle can be a pedestrian, another vehicle, or another road user.

[0130] In some implementations, the obstacle avoidance strategy satisfies the first condition, including: the collision between the vehicle and the first obstacle cannot be avoided by the obstacle avoidance strategy.

[0131] In some implementations, the obstacle avoidance strategy satisfies the first condition, including: the current time is later than the latest time for enabling the obstacle avoidance strategy, or the current time is earlier than the latest time, and the time length between the latest time and the current time is less than or equal to a time length threshold.

[0132] In an example, when the obstacle avoidance strategy is a strategy of avoiding the first obstacle by the active safety function, a first time of collision occurrence can be determined according to the obstacle information and the motion state information; and a latest time can be determined according to the first time and a time length required for the vehicle to avoid the first obstacle by the active safety function. For example, the first time can be the time of collision occurrence in the method 300, and the latest time can be T1 or T2 in the method 300. For a more specific implementation of the latest time, reference can be made to the description in the method 300, which will not be repeated here.

[0133] In another example, when the obstacle avoidance strategy is a strategy of avoiding the first obstacle by the driver, a first time of collision occurrence can be determined according to the obstacle information and the motion state information; and a latest time can be determined according to the first time, a reaction time length of the driver, and a time length required for the vehicle to avoid the first obstacle by braking or steering. The reaction time length can be determined according to historical driving data of the driver, or the reaction time length can be an average reaction time length of all drivers.

[0134] In some implementations, the control of the first light device to prompt the first information includes: when a second condition is met, controlling the first light device to prompt the first information; and the second condition includes any one of: the light brightness of the environment in which the vehicle is located is less than or equal to a first brightness threshold; the current time is in a first time period, and the first time period is a time period in which the brightness of natural light is less than or equal to a second brightness threshold; or the light brightness of the environment in which the vehicle is located is greater than the first brightness threshold, the current time is not in the first time period, and the first light device is configured to allow the first information to be prompted when the light brightness is greater than the first brightness threshold and the current time is not in the first time period.

[0135] For example, the first brightness threshold and the second brightness threshold can be the same threshold, or can be different thresholds. The first brightness threshold or the second brightness threshold can be any value in 500lx to 1000lx, or the first brightness threshold and the second brightness threshold can also be other values. The first time period can be the night period in the method 300.

[0136] For example, when the first light device is a headlamp, the first information can be light information constituted by high beam and low beam switching, or can be a hazard warning light language (such as a double flash light), or can be other light information; when the first light device is a tail lamp, the first information can be a hazard warning light language (such as a double flash light), or can be other light information. For a more specific implementation of the control of the first light device to prompt the first information, reference can be made to the description of the corresponding part of FIG. 5, which will not be repeated here.

[0137] In some embodiments, the first light device corresponds to the position of the first obstacle. For example, when the first obstacle is in front of the vehicle, the first light device can be the headlight of the vehicle; or when the first obstacle is behind the vehicle, the first light device can be the tail light of the vehicle.

[0138] In some embodiments, the method further includes: controlling the first sound device to prompt the second information includes: when a third condition is met, controlling the first sound device to prompt the second information; the third condition includes any one of: the area where the vehicle is located is not an area where honking is prohibited; or the area where the vehicle is located is an area where honking is prohibited, and the first sound device is configured to allow prompting the second information in the area where honking is prohibited.

[0139] For example, the method of determining whether the area where the vehicle is located is a honking prohibited area can refer to the description in the foregoing embodiments, and the specific implementation of configuring the first light device and the first sound device can also refer to the description in the foregoing embodiments, which will not be described here.

[0140] In some embodiments, controlling the first light device to prompt the first information, and / or controlling the first sound device to prompt the second information includes: according to the type of the first obstacle and the movement direction of the first obstacle, controlling the first light device to prompt the first information, and / or controlling the first sound device to prompt the second information.

[0141] In an example, according to the type of the first obstacle and the movement direction of the first obstacle, controlling the first light device to prompt the first information includes: when the type of the first obstacle indicates that the first obstacle includes a rearview mirror, and the movement direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is forward driving, controlling the first light device to prompt the first information.

[0142] In another example, according to the type of the first obstacle and the movement direction of the first obstacle, controlling the first sound device to prompt the second information includes: when the type of the first obstacle indicates that the first obstacle does not include a rearview mirror, and the movement direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is forward driving, controlling the first sound device to prompt the second information.

[0143] More specifically, the method of prompting information according to the type of the first obstacle and the movement direction of the first obstacle can refer to the description in the foregoing embodiments, which will not be described here.

[0144] In some embodiments, the method further includes: when controlling the first light device to prompt the first information, and / or controlling the first sound device to prompt the second information, controlling the vehicle to brake, and / or controlling the vehicle to turn to the first direction.

[0145] In some implementations, when the vehicle is controlled to turn in the first direction, a first turn signal of the vehicle is controlled to flash, the first turn signal being located on the vehicle in a position that matches the first direction.

[0146] The control method provided by the embodiments of the present application can control the external prompt device of the ego vehicle to perform information prompting to prompt the obstacle to actively avoid the ego vehicle when the active safety function of the ego vehicle is insufficient to avoid a collision between the ego vehicle and the obstacle, which helps to reduce the risk of a collision between the ego vehicle and the obstacle, thereby improving the success rate of obstacle avoidance of the ego vehicle. Moreover, when the active safety function of the ego vehicle is sufficient to avoid a collision between the ego vehicle and the obstacle, no light information and sound information are prompted; when the active safety function of the ego vehicle is insufficient to avoid a collision between the ego vehicle and the obstacle, the external prompt device of the ego vehicle is controlled to perform information prompting, which can reduce the probability of disturbing people caused by the false triggering of the external prompt device when the ego vehicle can avoid the obstacle.

[0147] In each of the embodiments of the present application, the terms and / or descriptions of different 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.

[0148] The method provided by the embodiments of the present application is described in detail above in combination with FIG. 1 to FIG. 8. The device provided by the embodiments of the present application will be described in detail below in combination with FIG. 9 and FIG. 10. 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 brevity.

[0149] FIG. 9 shows a schematic block diagram of the control device 2000 provided by the embodiments of the present application, which can include units for performing the methods described in the foregoing embodiments. Moreover, each unit in the device 2000 is configured to implement a corresponding flow of the method embodiments described above. The device 2000 includes an acquisition unit 2010, which can be configured to implement the corresponding data acquisition or transceiving function. The device 2000 further includes a processing unit 2020, which can be configured to implement the corresponding processing function.

[0150] Optionally, the device 2000 further includes a storage unit, which can be configured to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit, so that the device implements the related actions in the foregoing method embodiments.

[0151] It should be understood that the specific process in which each unit performs 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 brevity.

[0152] It should also be understood that the apparatus 2000 herein 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 (e.g., shared, dedicated, or group) and memory for executing one or more software or firmware programs, a combined logic circuit and a suitable component(s) to support the described functions therefor.

[0153] 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 relevant processing operations in each method embodiment.

[0154] Exemplarily, the acquisition unit 2010 and the processing unit 2020 can be arranged in the control module 230 shown in FIG. 2, and the operations performed by the acquisition unit 2010 and the processing unit 2020 can be executed by one processor, or can also be executed by different processors. In a specific implementation process, the one or more processors can be processors arranged in a computing platform of the vehicle; or the apparatus 2000 can be a chip arranged in the vehicle.

[0155] The processor involved in the present application is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), a digital signal processor (DSP), etc. In another implementation, the processor can implement certain functions through the logical relationship of hardware circuits, which is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the processor loads a configuration document to implement the hardware circuit configuration process, which can be understood as the process of the processor loading instructions to implement related functions. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In some implementations, the computing platform can also include a memory for storing instructions, and the processor can call the instructions in the memory to implement corresponding functions.

[0156] In the specific implementation process, all or part of each unit in the above device can be integrated together or independently implemented. In one implementation, these units are integrated together to implement a system-on-a-chip (SoC).

[0157] Fig. 10 is another schematic block diagram of a control device according to an embodiment of the present application. The device 2100 shown in Fig. 10 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 internal connection paths. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Alternatively, the memory 2130 can be coupled to the processor 2110 through an interface, or integrated with the processor 2110.

[0158] 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 device 2100 and other devices or communication networks.

[0159] 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. The volatile memory can be a random access memory (RAM). For example, the RAM can be used as an external cache. By way of example and not limitation, the RAM includes the following varieties: 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).

[0160] The transceiver 2120 uses a transceiving device such as a transceiver to enable communication between the device 2100 and other devices or communication networks, to receive / send data / information used to implement the methods in the above embodiments.

[0161] The embodiment of the present application further provides an intelligent driving device, which comprises the device 2000 or the device 2100 in the above embodiment.

[0162] The embodiment of the present application further provides a computer program product, which comprises computer program codes, and when the computer program codes are run on a computer, the computer is caused to implement the method in the above embodiment of the present application.

[0163] The embodiment of the present application further provides a computer readable storage medium, which stores computer instructions, and when the computer instructions are run on a computer, the computer is caused to implement the method in the above embodiment of the present application.

[0164] The embodiment of the present application further provides a chip, which comprises a circuit for executing the method in the above embodiment of the present application.

[0165] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0166] 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 object, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists 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.

[0167] 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 limit the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not be limited by the use of such prefix words.

[0168] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the division of the above-described device embodiments is only a logical function division, and there can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0169] In each embodiment of the present application, the terms and / or descriptions between different embodiments are consistent and can be mutually referenced 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.

[0170] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0171] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can be a physically independent unit, or two or more units can be integrated in one unit.

[0172] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and 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 in 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 obstacle information and motion state information of a vehicle, the obstacle information indicating a position of a first obstacle relative to the vehicle, a speed of the first obstacle, and a moving direction of the first obstacle, and the motion state information indicating a speed and a moving direction of the vehicle; determining an obstacle avoidance strategy for the vehicle to avoid the first obstacle according to the obstacle information and the motion state information; when the obstacle avoidance strategy meets a first condition, controlling a first light device to prompt first information and / or controlling a first sound device to prompt second information, the first information and / or the second information being used to prompt that the vehicle and the first obstacle have a collision risk; wherein the first light device is a light device outside a cabin of the vehicle, and the first sound device is a sound device outside the cabin of the vehicle.

2. The method of claim 1, wherein, The obstacle avoidance strategy meets the first condition, including that the vehicle and the first obstacle cannot be avoided from colliding through the obstacle avoidance strategy.

3. The method of claim 1, wherein, The obstacle avoidance strategy meets the first condition, including that a current time is later than a latest time at which the obstacle avoidance strategy is enabled, or the current time is earlier than the latest time, and a time length between the latest time and the current time is less than or equal to a time length threshold.

4. The method according to any one of claims 1 to 3, characterized in that, The obstacle avoidance strategy includes at least one of the following: controlling the vehicle to brake through automatic emergency braking (AEB); controlling the vehicle to turn through automatic emergency steering (AES); controlling the vehicle to brake and / or turn through a longitudinal and lateral control function; controlling the vehicle to brake in response to a change in an opening degree of a deceleration pedal, or controlling the vehicle to turn in response to a change in a steering angle of a steering wheel.

5. The method according to any one of claims 1 to 4, characterized in that, The control of the first light device to prompt the first information includes: controlling the first light device to prompt the first information when a second condition is met; wherein the second condition includes any one of the following: a light brightness of an environment in which the vehicle is located is less than or equal to a first brightness threshold; a current time is in a first time period, the first time period being a time period in which a brightness of natural light is less than or equal to a second brightness threshold; or, the light brightness of the environment in which the vehicle is located is greater than the first brightness threshold, the current time is not in the first time period, and the first light device is configured to allow the first information to be prompted when the light brightness is greater than the first brightness threshold and the current time is not in the first time period.

6. The method according to any one of claims 1 to 5, characterized in that, The first light device includes a light device corresponding to the position of the first obstacle.

7. The method according to any one of claims 1 to 6, characterized in that, The control of the first sound device to prompt the second information includes: controlling the first sound device to prompt the second information when a third condition is met; the third condition includes any one of the following: the area in which the vehicle is located is not an area in which sounding is prohibited; or, the area in which the vehicle is located is an area in which sounding is prohibited, and the first sound device is configured to allow the second information to be prompted in the area in which sounding is prohibited.

8. The method according to any one of claims 1 to 7, characterized in that, The control of the first light device to prompt the first information and / or the control of the first sound device to prompt the second information includes: The first light device is controlled to prompt the first information according to the type of the first obstacle and the moving direction of the first obstacle, and / or the first sound device is controlled to prompt the second information.

9. The method of claim 8, wherein, The first light device is controlled to prompt the first information according to the type of the first obstacle and the moving direction of the first obstacle, and / or the first sound device is controlled to prompt the second information. When the type of the first obstacle indicates that the first obstacle includes a rearview mirror, and the moving direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is driving forward, the first light device is controlled to prompt the first information.

10. The method according to claim 8 or 9, characterized in that, The first sound device is controlled to prompt the second information according to the type of the first obstacle and the moving direction of the first obstacle, and / or the first light device is controlled to prompt the first information. When the type of the first obstacle indicates that the first obstacle does not include a rearview mirror, and the moving direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is driving forward, the first sound device is controlled to prompt the second information.

11. The method according to any one of claims 1 to 10, characterized in that, The method further comprises: When the first light device is controlled to prompt the first information, and / or the first sound device is controlled to prompt the second information, the vehicle is controlled to brake, and / or the vehicle is controlled to turn to a first direction.

12. The method of claim 11, wherein, The method further comprises: When the vehicle is controlled to turn to the first direction, a first turn signal of the vehicle is controlled to flash, and a position of the first turn signal on the vehicle matches the first direction.

13. A control device characterized by comprising: Comprise: An acquisition unit is configured to acquire obstacle information and motion state information of a vehicle, the obstacle information indicating a position of a first obstacle relative to the vehicle, a speed of the first obstacle, and a moving direction of the first obstacle, and the motion state information indicating a speed and a moving direction of the vehicle; A processing unit is configured to determine an obstacle avoidance strategy for the vehicle to avoid the first obstacle according to the obstacle information and the motion state information; The processing unit is further configured to, when the obstacle avoidance strategy satisfies a first condition, control a first light device to prompt first information, and / or control a first sound device to prompt second information, the first information and / or the second information being used to prompt that the vehicle and the first obstacle have a collision risk; The first light device is a light device outside a cabin of the vehicle, and the first sound device is a sound device outside the cabin of the vehicle.

14. The apparatus of claim 13, wherein, The obstacle avoidance strategy satisfies the first condition, including that the vehicle and the first obstacle cannot be avoided from colliding through the obstacle avoidance strategy.

15. The apparatus of claim 13, wherein, The obstacle avoidance strategy satisfies the first condition, including that a current time is later than a latest time at which the obstacle avoidance strategy is enabled, or the current time is earlier than the latest time, and a time length between the latest time and the current time is less than or equal to a time length threshold.

16. The apparatus of any one of claims 13-15, wherein, The obstacle avoidance strategy includes at least one of the following: The vehicle is controlled to brake through automatic emergency braking AEB; The vehicle is controlled to turn through automatic emergency steering AES; The vehicle is controlled to brake and / or turn through a longitudinal and lateral control function; The vehicle is controlled to brake in response to a change in an opening degree of a deceleration pedal, or The vehicle is controlled to turn in response to a change in the steering angle of the steering wheel.

17. The apparatus of any one of claims 13-16, wherein, The processing unit is configured to: control the first light device to prompt the first information when a second condition is met; wherein the second condition comprises any one of: the light brightness of the environment in which the vehicle is located is less than or equal to a first brightness threshold; the current time is in a first time period, the first time period being a time period in which the brightness of natural light is less than or equal to a second brightness threshold; or, the light brightness of the environment in which the vehicle is located is greater than the first brightness threshold, the current time is not in the first time period, and the first light device is configured to allow the first information to be prompted when the light brightness is greater than the first brightness threshold and the current time is not in the first time period.

18. The apparatus of any one of claims 13-17, wherein, The first light device comprises a light device corresponding to the position of the first obstacle.

19. The apparatus of any one of claims 13-18, wherein, The processing unit is configured to: control the first sound device to prompt the second information when a third condition is met; The third condition comprises any one of: the area in which the vehicle is located is not an area in which honking is prohibited; or, the area in which the vehicle is located is an area in which honking is prohibited, and the first sound device is configured to allow the second information to be prompted in the area in which honking is prohibited.

20. The apparatus of any one of claims 13-19, wherein, The processing unit is configured to: control the first light device to prompt the first information and / or control the first sound device to prompt the second information according to the type of the first obstacle and the movement direction of the first obstacle.

21. The apparatus of claim 20, wherein, The processing unit is configured to: control the first light device to prompt the first information when the type of the first obstacle indicates that the first obstacle includes a rearview mirror, and the movement direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is driving forward.

22. The apparatus of claim 20 or 21, wherein, The processing unit is configured to: control the first sound device to prompt the second information when the type of the first obstacle indicates that the first obstacle does not include a rearview mirror, and the movement direction of the first obstacle is the same as the driving direction of the vehicle and the vehicle is driving forward.

23. The apparatus of any one of claims 13-22, wherein, The processing unit is further configured to: control the vehicle to brake and / or control the vehicle to turn in a first direction when controlling the first light device to prompt the first information and / or controlling the first sound device to prompt the second information.

24. The apparatus of claim 23, wherein, The processing unit is further configured to: control a first turn signal of the vehicle to flash when controlling the vehicle to turn in the first direction, the position of the first turn signal on the vehicle matching the first direction.

25. A control device characterized by comprising: comprising: 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 12.

26. The apparatus of claim 25, wherein, The apparatus further comprises the memory.

27. A computer-readable storage medium, characterized in that, instructions stored thereon, which when executed by a processor, implement the method of any one of claims 1 to 12.

28. A chip, characterized by The chip comprises a circuit configured to perform the method of any one of claims 1 to 12.

29. A computer program product, characterised in that, The computer program product comprises computer program code which, when run by a processor, implements the method according to any one of claims 1 to 12.

30. A vehicle characterized by The vehicle comprises the apparatus according to any one of claims 13 to 26, or the computer-readable storage medium according to claim 27, or the chip according to claim 28, or the vehicle is loaded with the computer program product according to claim 29.

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