Control method and apparatus, and vehicle

Abstract

A control method, comprising: acquiring obstacle information and vehicle state information, wherein the obstacle information indicates the positions of obstacles around a vehicle, and the vehicle state information indicates the speed and pose of the vehicle; when the vehicle travels with a first rearview mirror thereof in a folded state, on the basis of the obstacle information and the vehicle state information, determining whether the vehicle has a collision risk when the first rearview mirror is in an unfolded state; and when the vehicle travels to an area where the collision risk, which is present when the first rearview mirror is in the unfolded state, is eliminated, controlling the first rearview mirror to unfold. The method can be applied to the field of intelligent driving of intelligent vehicles. When a vehicle travels in a narrow area in a state where a rearview mirror thereof is in a folded state, and when it is determined that the vehicle has passed a collision risk area, the rearview mirror is controlled to unfold as soon as possible, such that the impact of long-term loss of a surround-view sensing signal on the sensing and planning capabilities of the vehicle can be avoided, thereby facilitating an improvement in the safety and traffic efficiency of the vehicle during parking. Further disclosed are a control apparatus, a computer-readable storage medium, a chip, a computer program product and a vehicle.

Description

Control methods, devices and vehicles Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a control method, device, and vehicle. Background Technology

[0002] With the rapid development of the automotive industry, many driver assistance and autonomous driving technologies have emerged, which can reduce driving stress, improve safety, and enhance traffic efficiency. Automatic parking (AP) is one such widely used driver assistance technology. AP technology uses the vehicle's perception system to collect information about its surrounding environment, identify parking spaces and obstacles, plan a feasible parking path, and control the vehicle to complete the parking maneuver along that path. However, during the parking process, limited by the perception range and accuracy of the vehicle's perception system, the planned parking path may not be a collision-free path. This means that during the parking process, obstacles may obstruct the vehicle, causing it to stop or even retreat midway. This is especially true in narrow areas and scenarios with complex obstacles, where the probability of the vehicle stopping due to obstacles is even higher. Summary of the Invention

[0003] This application provides a control method, device, and vehicle that, while a vehicle is driving through a narrow area with its rearview mirrors retracted, performs collision reasoning based on obstacles around the vehicle. When it is determined that the vehicle is passing through a collision risk area, the rearview mirrors are controlled to unfold as quickly as possible. This can avoid the long-term loss of surround-view perception signals, which affects the vehicle's perception and planning capabilities, and helps to improve the safety and traffic efficiency during vehicle parking.

[0004] In a first aspect, a control method is provided, which can be executed by a vehicle; or, it can also be executed by a computing platform of the vehicle; or, it can also be executed by a chip or circuit for the vehicle, without limitation thereof.

[0005] The method includes: acquiring obstacle information and vehicle status information, wherein the obstacle information indicates the position of obstacles around the vehicle, and the vehicle status information indicates the vehicle's speed and orientation; when the vehicle is driving with its first rearview mirror in a retracted state, determining, based on the obstacle information and vehicle status information, whether there is a collision risk when the first rearview mirror is in an deployed state; and when the vehicle travels to an area where the collision risk is eliminated when the first rearview mirror is in a deployed state, controlling the first rearview mirror to deploy.

[0006] In one example, the vehicle's predicted path within a certain time period (e.g., 1 to 2 seconds) is predicted based on the vehicle's state information. Based on this predicted path and obstacle information, it is determined whether the vehicle will collide with the obstacle when the first rearview mirror is deployed. If it is determined that the vehicle will not collide with the obstacle when the first rearview mirror is deployed, the first rearview mirror is controlled to deploy.

[0007] In another example, before or during the retraction of the first rearview mirror, the location of an obstacle that poses a collision risk to the vehicle is marked. When the vehicle passes the location, it is determined that the vehicle will not collide with the obstacle if the first rearview mirror is deployed, and the first rearview mirror is deployed.

[0008] When a vehicle retracts its rearview mirrors, the sensing devices (such as cameras) located at the mirrors (e.g., at the lower edge) cannot acquire effective sensing information, resulting in a loss of some sensing information and affecting the vehicle's perception and planning capabilities. The aforementioned technical solution allows the retracted rearview mirrors to be deployed promptly when the vehicle passes through a collision risk area, enabling the vehicle's perception and planning capabilities to be restored in a timely manner, thus improving safety during parking and / or driving.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling the deployment of the first rearview mirror when the collision risk is eliminated and the duration is greater than or equal to a first threshold.

[0010] The above technical solution can avoid collisions caused by misjudging collision risks and resulting in the rearview mirrors unfolding, which helps to improve the robustness of the control system and the safety of the vehicle.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: before and / or while controlling the first rearview mirror to unfold, a vehicle-controlled prompting device prompts first information, the first information indicating at least one of the following: the first rearview mirror is about to unfold or is unfolding, or the reason for unfolding the first rearview mirror.

[0012] In the above technical solution, providing relevant information to the user before and after the rearview mirror unfolds can create a psychological expectation for the user regarding the unfolding behavior of the rearview mirror, increase the user's trust in the vehicle, and thus enhance the user's driving experience.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: predicting a predicted driving path of the vehicle within a first duration based on the vehicle's speed and position at a first moment, wherein the start time of the first duration is the first moment; determining whether there is a collision risk when the vehicle travels along the predicted driving path within the first duration based on obstacle information and the predicted driving path; and controlling the second rearview mirror to retract when there is a collision risk on the first side of the vehicle within the first duration, wherein the second rearview mirror is a rearview mirror located on the first side of the vehicle.

[0014] In some implementations, the second rearview mirror and the first rearview mirror can be the same rearview mirror.

[0015] In some implementations, the vehicle's speed and position at the first moment can be the speed and position of the vehicle traveling along the first driving path to the first moment, where the first driving path can be a parking path planned for the vehicle.

[0016] In the aforementioned technical solution, predicting the vehicle's driving path over a future period based on its speed and position helps improve the accuracy of collision detection results and the timeliness of retracting the side mirrors. This avoids prolonged loss of perception information due to retracting the mirrors too early, and also prevents collision avoidance failures caused by retracting them too late. Furthermore, controlling the timely retraction of the side mirror on the side where there is a collision risk helps improve the vehicle's passage rate in areas with collision risk and reduces the likelihood of the vehicle getting stuck while parking or driving.

[0017] In conjunction with the first aspect, in certain implementations of the first aspect, determining whether there is a collision risk when the vehicle travels along the predicted driving path within a first time period includes: determining first risk information of the vehicle based on obstacle information, the predicted driving path, and a first vehicle model, wherein the first vehicle model indicates the outer contour of the vehicle when both side mirrors are deployed; controlling the retraction of the second side mirror includes: when the first risk information indicates a collision risk on the first side, determining second risk information of the vehicle based on obstacle information, the predicted driving path, and a second vehicle model, wherein the second vehicle model indicates the outer contour of the second side mirror when it is retracted and the second side mirror is deployed; and controlling the retraction of the second side mirror when the second risk information indicates that the collision risk on the first side has disappeared.

[0018] In the above technical solution, collision simulation is performed based on the vehicle models corresponding to the rearview mirrors before and after they are unfolded. This can accurately identify the collision risk when the rearview mirrors are unfolded, as well as the collision risk when one or both rearview mirrors are folded up. This helps to reduce the misidentification of collision risks, thereby improving the reliability and robustness of the vehicle's intelligent driving system, and thus improving the safety of the vehicle during parking and / or driving.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the first duration is one of 1 to 2 seconds.

[0020] In the above technical solution, the vehicle's driving path is predicted in the next 1 to 2 seconds based on the vehicle's speed and position, thereby improving the real-time detection of collision risks and thus improving the control accuracy of retracting or unfolding the rearview mirror.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: before and / or while controlling the second rearview mirror to retract, a vehicle control device provides a second message indicating at least one of the following: the second rearview mirror is about to be retracted or is being retracted, or the reason for retracting the second rearview mirror.

[0022] In the above technical solution, relevant information is prompted to the user before and after the rearview mirror is retracted, which enables the user to have psychological expectations about the retraction behavior of the rearview mirror and the position of the retracted rearview mirror. This avoids the user's anxiety or panic caused by the sudden retraction of the rearview mirror, and helps to improve the user's trust in the vehicle and the driving experience.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: before and / or while controlling the second rearview mirror to retract, a vehicle-controlled prompting device prompts third information, the third information indicating at least one of the following: the location where the vehicle is at risk of collision, the location of an obstacle causing the collision risk, or a predicted driving path.

[0024] In the above technical solutions, prompting users with collision-related locations and predicted driving paths helps improve the understanding of the reasons for folding down the rearview mirrors, thereby enhancing the user's driving experience.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling a third rearview mirror to remain deployed while controlling the second rearview mirror to retract, the third rearview mirror being a rearview mirror located on the second side of the vehicle.

[0026] In the above technical solution, controlling the rearview mirror on the side of the vehicle with a collision risk to fold up and controlling the rearview mirror on the side without a collision risk to unfold helps to minimize the loss of perception information, thereby ensuring the vehicle's automation capabilities.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when there is also a collision risk on the second side of the vehicle within a first time period, controlling the third rearview mirror to retract, the third rearview mirror being a rearview mirror located on the second side of the vehicle.

[0028] In the above technical solution, when there is a risk of collision on both sides of the vehicle, controlling the retraction of both side mirrors helps to increase the probability of the vehicle passing through extremely narrow areas, thereby improving the vehicle's parking efficiency and traffic efficiency.

[0029] Secondly, a control device is provided, comprising an acquisition unit and a processing unit, wherein the acquisition unit is configured to: acquire obstacle information and vehicle state information, the obstacle information indicating the position of obstacles around the vehicle, and the vehicle state information indicating the vehicle's speed and orientation; the processing unit is configured to: determine, based on the obstacle information and vehicle state information, whether there is a collision risk when the vehicle's first rearview mirror is in the retracted state while driving; the processing unit is further configured to: control the first rearview mirror to unfold when the vehicle travels to an area where the collision risk is eliminated when the first rearview mirror is in the unfolded state.

[0030] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is also used to: control the first rearview mirror to deploy when the collision risk is eliminated and the duration is greater than or equal to the first threshold.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: before and / or while controlling the first rearview mirror to unfold, control the vehicle's prompting device to display first information, the first information indicating at least one of the following: the first rearview mirror is about to unfold or is unfolding, or the reason for unfolding the first rearview mirror.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: predict the predicted driving path of the vehicle within a first duration based on the vehicle's speed and pose at a first moment, wherein the start time of the first duration is the first moment; determine whether there is a collision risk when the vehicle travels along the predicted driving path within the first duration based on obstacle information and the predicted driving path; and control the second rearview mirror to retract when there is a collision risk on the first side of the vehicle within the first duration, wherein the second rearview mirror is a rearview mirror located on the first side of the vehicle.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is configured to: determine first risk information of the vehicle based on obstacle information, predicted driving path, and a first vehicle model, wherein the first vehicle model indicates the outer contour of the vehicle when both side mirrors are deployed; when the first risk information indicates a collision risk on the first side, determine second risk information of the vehicle based on obstacle information, predicted driving path, and a second vehicle model, wherein the second vehicle model indicates the outer contour of the vehicle when the second side mirror is retracted and the second side mirror is deployed; and when the second risk information indicates that the collision risk on the first side has disappeared, control the second side mirror to retract.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the first duration is one of 1 to 2 seconds.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: before and / or while controlling the second rearview mirror to retract, control the vehicle's prompting device to display second information, the second information indicating at least one of the following: the second rearview mirror is about to be retracted or is being retracted, or the reason for retracting the second rearview mirror.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: before and / or while controlling the second rearview mirror to retract, control the vehicle's prompting device to prompt third information, the third information indicating at least one of the following: the location where the vehicle is at risk of collision, the location of an obstacle that causes the collision risk, or a predicted driving path.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the third rearview mirror to remain deployed while controlling the second rearview mirror to retract, the third rearview mirror being a rearview mirror located on the second side of the vehicle.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is also used to: control the third rearview mirror to retract when there is also a collision risk on the second side of the vehicle within the first time period. The third rearview mirror is a rearview mirror located on the second side of the vehicle.

[0039] Thirdly, a control device is provided, comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0040] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0041] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.

[0042] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0043] Fifthly, a computer-readable storage medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0044] In a sixth aspect, a chip is provided that includes circuitry for performing the method in any of the possible implementations of the first aspect described above.

[0045] In a seventh aspect, a vehicle is provided that includes means as in any possible implementation of the second or third aspect, or the vehicle includes a computer-readable storage medium as in any possible implementation of the fifth aspect, or the vehicle includes a chip as in any possible implementation of the sixth aspect, or the vehicle is loaded with a computer program product as in any possible implementation of the fourth aspect.

[0046] In conjunction with the seventh aspect, in some implementations of the seventh aspect, the vehicle is a vehicle in a broad sense, such as a means of transportation (e.g., commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), engineering vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural equipment (e.g., lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. In practical implementation, the vehicle can also be a road vehicle, a water vehicle, an air vehicle, industrial equipment, agricultural equipment, or other intelligent driving equipment such as entertainment equipment.

[0047] For the beneficial effects not described in detail in aspects two through seven, please refer to the description in aspect one, which will not be repeated here. Attached Figure Description

[0048] Figure 1 is a functional schematic block diagram of the vehicle provided in an embodiment of this application;

[0049] Figure 2 is a schematic block diagram of the control system architecture provided in an embodiment of this application;

[0050] Figure 3 is a schematic flowchart of the control method provided in an embodiment of this application;

[0051] Figure 4 is a schematic diagram of the multi-circle model involved in the embodiments of this application;

[0052] Figure 5 is a schematic diagram of the application scenarios involved in the embodiments of this application;

[0053] Figure 6 is another schematic diagram of an application scenario involved in the embodiments of this application;

[0054] Figure 7 is another schematic diagram of the application scenario provided in the embodiments of this application;

[0055] Figure 8 is a schematic diagram of the GUI provided in an embodiment of this application;

[0056] Figure 9 is another schematic diagram of the GUI provided in the embodiments of this application;

[0057] Figure 10 is another schematic diagram of the GUI provided in the embodiments of this application;

[0058] Figure 11 is another schematic flowchart of the control method provided in the embodiments of this application;

[0059] Figure 12 is a schematic block diagram of the control device provided in an embodiment of this application;

[0060] Figure 13 is another schematic block diagram of the control device provided in the embodiments of this application. Detailed Implementation

[0061] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0062] Figure 1 is a functional block diagram of a vehicle provided in an embodiment of this application. As shown in Figure 1, the vehicle 100 may include a perception system 120, a prompting device 130, and a computing platform 150. The perception system 120 may include several sensors for sensing information about the surrounding environment of the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou system, or other positioning systems. As another example, the perception system 120 may also include one or more of the following: an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0063] The prompting device 130 may include any of the following: a display device, a sound device, and a lighting device. The display device is mainly divided into two categories: the first is an in-vehicle display screen; the second is a projection display screen, such as a head-up display (HUD). An in-vehicle display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as digital instrument cluster displays and central control screens. In some possible implementations, one or more of the aforementioned in-vehicle displays can be human-machine interfaces (HMIs), for example, the central control screen can be an HMI. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device (e.g., the windshield) in front of the driver. This reduces the driver's eye-shifting time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. Sound-generating devices can include in-vehicle speakers, in-vehicle audio systems, and other in-vehicle sound-generating devices. Lighting devices are used for displaying lights, and these can include ambient lighting inside the vehicle cabin and exterior vehicle lights.

[0064] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using 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 process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement related functions. Furthermore, 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), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0065] The computing platform 150 can control the operation of the intelligent driving system, which may include an advanced driving assistance system (ADAS) and an autonomous driving system (ADS). The intelligent driving system utilizes various sensors on the vehicle (including but not limited to: LiDAR, millimeter-wave radar, cameras, ultrasonic sensors, GPS, and inertial measurement units) to acquire information from the vehicle's surroundings, and analyzes and processes this information to achieve functions such as obstacle perception, target recognition, vehicle localization, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving the vehicle.

[0066] At different levels of autonomous driving (or intelligent driving levels, ranging from L0 to L5, totaling six levels), intelligent driving systems can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. These levels of autonomous driving are based on the classification standards of the Society of Automotive Engineers (SAE). Specifically, L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At levels L1 to L3, the task of monitoring road conditions and reacting is jointly completed by the driver and the system, requiring the driver to take over dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into a passenger. Currently, the functions that intelligent driving systems can achieve mainly include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist. It should be understood that the various functions mentioned above can have specific modes at different levels of autonomous driving (L0-L5), with higher levels of autonomous driving corresponding to more intelligent modes. Examples include Auto Parking Assist (APA), Remote Parking Assist (RPA), and Auto Valet Parking (AVP). With APA, the driver does not need to operate the steering wheel but still needs to control the accelerator and brake from outside the vehicle; with RPA, the driver can remotely park the vehicle from outside using a terminal (e.g., a mobile phone); with AVP, the vehicle can park without a driver. In terms of corresponding autonomous driving levels, APA is roughly at L1-L2 level, RPA is roughly at L2-L3 level, and AVP is roughly at L4 level.

[0067] The roles of the sensing system 120, the prompting device 130, and the computing platform 150 in this application are explained in detail below with reference to Figure 2. Figure 2 shows a schematic block diagram of the control system architecture provided in an embodiment of this application. The system includes a sensing module 210, a control module 220, and a prompting module 230. Wherein:

[0068] The perception module 210 may include one or more camera devices from the perception system 120 shown in Figure 1, or it may also include one or more radars from the perception system 120, for collecting environmental information about the area where the vehicle is located, such as information about parking lines and obstacles. The perception module 210 may also process the collected environmental information to build a world model of roads, obstacles, etc., for downstream modules (such as the planning and control module 220). In one example, the perception module 210 may determine one or more parking spaces based on obstacles and / or parking lines, and send the information of one or more parking spaces to the planning and control module 220. In another example, the perception module 210 may also send information about obstacles around the vehicle and / or obstacles around the target parking space to the planning and control module 220.

[0069] The planning and control module 220 may include one or more processors in the computing platform 150 shown in FIG. 1. It is understood that the position of obstacles sensed by the perception module 210 at the parking start position may not be accurate, potentially causing the vehicle to collide with obstacles around the parking path as it travels along the parking path planned based on environmental information from the perception module 210. Therefore, the planning and control module 220 may specifically include a path planning module 221, a collision detection module 222, and a control module 223. The path planning module 221 is used to plan a parking path from the vehicle's parking start position to the target parking space based on environmental information from the perception module 210; the collision detection module 222 is used to detect whether there are obstacles around the vehicle that pose a collision risk with the vehicle's rearview mirrors during the parking process; and the control module 223 is used to control the folding or unfolding of one or both rearview mirrors of the vehicle based on the detection results of the collision detection module 222.

[0070] It should be noted that the rearview mirrors involved in this application can include flip-up rearview mirrors, telescopic rearview mirrors, etc., whose exterior shapes differ when in an unfolded and retracted state. The retraction of the rearview mirror involved in this application can be achieved by controlling the rearview mirror to flip towards the vehicle body, or by controlling the rearview mirror to retract into the vehicle body; the unfolding of the rearview mirror involved in this application can be achieved by controlling the rearview mirror to flip away from the vehicle body, or by controlling the rearview mirror to extend out of the vehicle body. More specifically, when the rearview mirror is a flip-up rearview mirror, the state when the rearview mirror is folded to its limit is the retracted state, and the state when the horizontal flip angle of the rearview mirror is not zero is the unfolded state, where the horizontal flip angle can be the angle at which the rearview mirror flips within the plane of the vehicle's four tires; when the rearview mirror is a telescopic rearview mirror, the state when the rearview mirror is fully retracted into the vehicle body is the retracted state, and the state when the rearview mirror is partially or fully extended out of the vehicle body is the unfolded state.

[0071] The prompting module 230 is used to indicate the status of the rearview mirror when its status changes. For example, when the rearview mirror is about to unfold from the folded state, the prompting module 230 indicates that the rearview mirror is about to unfold, or it may also indicate the reason for unfolding the rearview mirror; as another example, when the rearview mirror is about to fold from the unfolded state, the prompting module 230 indicates that the rearview mirror is about to fold, or it may also indicate the reason for folding the rearview mirror.

[0072] It should be understood that the above system is only an example, and in actual applications, modules in the above system may be added or removed according to actual needs. For example, the collision detection module 222 and the control module 223 can be combined into one module.

[0073] The system provided by the embodiments of this application has been described above. The control method provided by the embodiments of this application will be described in detail below.

[0074] Figure 3 shows a schematic flowchart of a control method provided in an embodiment of this application. The method can be executed by the vehicle 100 shown in Figure 1, or by the control module 220 shown in Figure 2. The method 300 includes some or all of the steps in S301 to S308.

[0075] S301, acquire environmental perception information and planned path information. The environmental perception information indicates the location of obstacles around the vehicle, and the planned path information indicates the path 1 for the vehicle to drive and / or park in the target parking space.

[0076] For example, path 1 can be a parking path planned based on the target parking space and the vehicle's location before the parking process is initiated; or, path 1 can be a parking path planned in real time based on obstacles around the vehicle as it moves toward the target parking space.

[0077] For example, environmental perception information can be information perceived by the vehicle's perception system.

[0078] S302, during the process of the vehicle following path 1, the predicted path of the vehicle in the future time period is predicted based on the vehicle's motion state information.

[0079] For example, the motion state information indicates the vehicle's speed changes and posture, wherein the posture may include one or more of the following: steering wheel angle, wheel angle, and vehicle heading angle; the future duration may be any duration from 1 second to 2 seconds starting from the current moment, or it may be any other duration. For example, the current moment may be the starting moment for calculating the vehicle's path over the future duration.

[0080] S303 determines whether there is a risk of collision with the vehicle in State 1 over a future period of time.

[0081] For example, state 1 can be the state corresponding to both rearview mirrors of the vehicle being unfolded; or, in S302, if the vehicle is in the state of following path 1 when one of its rearview mirrors is folded up, then state 1 can also be the current state of the vehicle (i.e., the state corresponding to when one rearview mirror is folded up and the other rearview mirror is unfolded).

[0082] In some implementations, a multi-circle model of the vehicle can be used to represent the vehicle's state 1, and then the presence of a collision risk can be inferred based on the predicted path, the multi-circle model, and the gridded obstacle map.

[0083] For example, a rasterized obstacle map is generated based on environmental perception information. Then, the neighborhood template of the raster grid is used to scan the rasterized obstacle map to obtain the Euclidean distance and orientation between each raster grid and the nearest obstacle raster grid. Further, a multi-circle model of the vehicle is determined based on the vehicle's outer contour information, and the Euclidean distance and orientation information of the vehicle relative to the nearest obstacle is obtained by combining the multi-circle envelope obstacle detection algorithm.

[0084] For example, a neighborhood template is constructed based on the neighboring grids q∈{q1,q2,…,q8} of the grid p shown in Figure 4(a). The coordinates of the neighboring grids q∈{q1,q2,…,q8} relative to the nearest obstacle grid are C(q)=(C x (q),C y (q)) Using this coordinate, the square of the Euclidean distance between the neighboring grid q∈{q1,q2,...,q8} and the nearest obstacle grid can be calculated. Assuming that the nearest obstacle grid is the same for both grid p and the neighboring grid q∈{q1,q2,...,q8}, then the deviation d(p,q) of the square of the Euclidean distance between grid p and the neighboring grid q∈{q1,q2,...,q8} and the deviation M(p,q) of the relative coordinates are:

[0085] Let f(q) represent the squared Euclidean distance of the neighboring grid q∈{q1,q2,...,q8} relative to the nearest obstacle grid. Based on the grid scanning algorithm, the rasterized obstacle map is scanned four times using the neighborhood template:

[0086] (1) Based on the set N1(p)={q1,q2,q3,q4}, scan row by row from left to right;

[0087] (2) Based on the set N2(p)={q5,q6,q7,q8}, scan row by row from right to left in reverse order;

[0088] (3) Based on the set N3(p)={q3,q2,q1,q8}, scan column by column from top to bottom in a positive direction;

[0089] (4) Based on the set N4(p)={q7,q6,q5,q4}, scan the columns in reverse order from bottom to top.

[0090] In each scan process, if for neighboring grid q∈N i If f(p) > d(p,q) + f(p), then update f(p) and C(p). Specifically, f(p) is updated to the sum of d(p,q) and f(p), and C(p) is updated to the sum of C(p) and M(p,q). After four scans, the Euclidean distance and orientation between each grid cell in the rasterized obstacle map and the nearest obstacle grid cell can be obtained.

[0091] In some implementations, taking state 1, which corresponds to the vehicle's two side mirrors being fully deployed, as an example, the three-circle model shown in Figure 4(b) can be used to represent the outer contour of the vehicle when both side mirrors are deployed. Specifically, this three-circle model includes three circles of the same radius (circle O1, circle O2, and circle O3). The Euclidean distance and orientation between the vehicle and the nearest obstacle grid can be determined using the information from the gridded obstacle map where the centers of the three circles are located. The center pose of the rear axle of the vehicle in the OXY coordinate system at time k is then used. The coordinates of the three center points can be derived as follows:

[0092] Among them, L r L represents the rear overhang length of the vehicle. c This refers to the length of the vehicle's body.

[0093] For example, when the distance between the obstacle and the vehicle's outer contour is determined to be less than or equal to the distance threshold 1 based on the aforementioned three-circle model, it can be determined that the vehicle has a collision risk in the future for a period of time under state 1.

[0094] More specifically, if the vehicle is in state 1 and there is a risk of collision in the future, execute S304; otherwise, execute S308.

[0095] S304, determine whether there is a risk of collision for the vehicle in State 2 over a future period of time.

[0096] For example, state 2 can be the state corresponding to the rearview mirror on the side of the vehicle where there is a risk of collision being folded up.

[0097] For example, based on the position of the obstacle relative to the vehicle, a multi-circle model corresponding to the retracted side mirrors of one or both sides of the vehicle can be constructed. Then, based on the multi-circle model corresponding to the retracted side mirrors, it can be determined whether there is a collision risk between the obstacle and the vehicle. If the distance between the obstacle and the outer contour of the vehicle after the side mirrors are retracted is greater than or equal to the distance threshold 2, it can be determined that the vehicle will not have a collision risk in the future under state 2, and S305 can be executed; otherwise, it means that the collision risk between the obstacle and the vehicle cannot be eliminated even after the side mirrors are retracted. At this time, the vehicle is controlled to stop driving and / or replan the route to avoid a collision.

[0098] In one example, according to the aforementioned embodiment, it is determined that the obstacle is located on side A of the vehicle, and as the vehicle moves, the distance between the obstacle and side A of the vehicle is less than or equal to distance threshold 1. Then, based on the multi-circle model corresponding to the vehicle retracting the side A rearview mirror, the distance between the obstacle and the outer contour of the vehicle after retracting the side A rearview mirror is determined. If the distance between the obstacle and side A of the vehicle after retracting the side A rearview mirror is greater than or equal to distance threshold 2, then S305 is executed; otherwise, the vehicle is controlled to pause driving and / or replan the path. Here, side A can be the left and / or right side of the vehicle.

[0099] For example, the aforementioned distance threshold 1 can be a value between 3 cm and 5 cm, and the aforementioned distance threshold 2 can be a value between 3 cm and 5 cm; or, distance threshold 1 and distance threshold 2 can be other values.

[0100] It should be noted that the aforementioned three-circle model is only an example. In actual implementation, other multi-circle models can also be used for collision detection.

[0101] It should also be noted that the terms "left side" and "right side" in this application embodiment can be relative. For example, the left and right sides of the vehicle can be defined based on a vehicle coordinate system. The origin O of the vehicle coordinate system can be located at the projection point of the rear axle center of the vehicle body onto the ground. The positive directions of the X-axis and Z-axis are the direction of the vehicle's front and the direction perpendicular to the vehicle body plane, respectively. The side of the vehicle located in the positive direction of the Y-axis can be considered the left side of the vehicle, and the side of the vehicle located in the negative direction of the Y-axis can be considered the right side of the vehicle. In actual implementation, other methods can also be used to define the left and right sides of the vehicle.

[0102] S305, based on the position of the collision risk relative to the vehicle, controls the rearview mirror on the side of the vehicle with the collision risk to fold up, and controls the warning device to display message 1.

[0103] For example, when there is a collision risk on one side of the vehicle, the rearview mirror on that side is retracted; when there is a collision risk on both sides of the vehicle and neither rearview mirror is retracted, the rearview mirrors on both sides of the vehicle are retracted.

[0104] For example, prompt message 1 is used to indicate that the rearview mirror is about to or is being folded up, or prompt message 1 can also be used to indicate the reason for the rearview mirror being folded up.

[0105] S306, determine whether the vehicle has passed through the risk area.

[0106] In some implementations, the multi-circle envelope obstacle detection algorithm in S303 can be used to determine whether the vehicle has passed the risk area. For example, based on the unfolding of the corresponding multi-circle models of both rearview mirrors of the vehicle, if it is determined that the vehicle has passed the risk area within a time period of 1, then the vehicle has passed the risk area. For example, the time period of 1 can be a value between 1 second and 2 seconds, or it can be any other value.

[0107] In some other implementations, the location of the obstacle identified in S303 that poses a collision risk to the vehicle is marked. Furthermore, based on the vehicle's positioning information, when it is determined that the vehicle's rearview mirror has moved away from the location of the aforementioned obstacle, it is determined that the vehicle has passed through the risk area.

[0108] More specifically, if it is determined that the vehicle has passed through the risk area, execute S307; otherwise, keep the retracted rearview mirrors in the retracted state.

[0109] S307 controls the unfolding of the retracted rearview mirror.

[0110] S308, confirm whether parking has been completed.

[0111] For example, when the vehicle has been parked (i.e., parked in the target parking space in the target position), it is determined that parking has been completed, and the parking process ends; otherwise, it is determined that parking has not been completed, and S302 continues to be executed.

[0112] To facilitate understanding of the control method provided in the embodiments of this application, the control method of this application will be further explained below in conjunction with the application scenarios shown in Figures 5 to 7.

[0113] Figure 5 illustrates scenarios where the planned parking path for a vehicle contains narrow paths or obstacles around the target parking space that pose a collision risk. In one scenario, path 411 is the planned driving and / or parking path for vehicle 410. When vehicle 410 is traveling along the planned path 411 with both side mirrors of vehicle 410 in the deployed state, due to the constraints imposed by vehicles 412, 413, and 414, vehicle 410 may collide (or scrape) with one or more of vehicles 412, 413, and 414 when it reaches area 417. In another scenario, if parking space 416 is selected as the target parking space for vehicle 410, due to the constraint imposed by vehicle 413, vehicle 410 may collide (or scrape) with vehicle 413 while parking in space 416 with its side mirrors deployed.

[0114] Understandably, in the aforementioned scenario, if vehicle 410 travels along path 411 with its rearview mirrors deployed, the left rearview mirror of vehicle 410 may scrape against vehicle 412, as shown in Figure 6. In this case, if the distance between vehicle 415 and vehicle 412 is large enough that vehicle 410 can pass through the area between them along path 418-b without a collision, vehicle 410 can also replan its path 418-a and path 418-b as shown in the left diagram of Figure 7 to travel towards the target location. However, replanning the path requires significant computational overhead and takes a long time. Furthermore, in some scenarios, as shown in the right diagram of Figure 7, the distance between vehicle 415 and vehicle 412 is small, meaning that vehicle 410 still faces a collision risk while traveling along path 418-b. In this case, the benefit of replanning the path for vehicle 410 is minimal. In summary, in some scenarios, there may only be one passable path when a vehicle travels to a target location or parks in a target space, or other passable paths may exist, but these other paths require multiple gear shifts or maneuvering, resulting in lower traffic or parking efficiency. Therefore, when a collision risk is detected when the vehicle is traveling along the planned path, controlling the retraction of the rearview mirror on the side of the vehicle with the collision risk relative to the vehicle's position helps reduce the processing complexity during autonomous driving and improves traffic and / or parking efficiency.

[0115] Furthermore, when the status of the vehicle's rearview mirrors is about to change or is changing, the vehicle's warning devices can be controlled to display relevant information. Taking a display device such as a central control screen as an example, the vehicle can display a relevant graphical user interface (GUI) through the central control screen to indicate the rearview mirror status.

[0116] In some implementations, when the vehicle is in the position of vehicle 410 as shown in Figure 5, the view seen by the driver inside the vehicle's cabin can be as shown in Figure 8. Furthermore, the vehicle's central control screen can be controlled to display a parking interface as shown in the lower left of Figure 8. This parking interface includes icons indicating available parking spaces, icons indicating non-parking spaces, an icon 801 indicating the vehicle itself, an icon 802 indicating the planned path for the vehicle, and an icon indicating the location of other vehicles. In some implementations, icon 802 can also indicate the predicted driving path of the vehicle within a future time period (e.g., 1 second or 2 seconds) based on the vehicle's speed and position. For example, when a collision risk is detected on the left side of the vehicle, and this risk can be eliminated by retracting the left-side rearview mirror, the parking interface can also display element a (shown in the lower left of Figure 8) and dialog box 803. Element a indicates that the location of the collision risk is the left side of the vehicle (or the left-side rearview mirror position), and dialog box 803 includes the text "! Collision risk detected in the left-side rearview mirror, retracting the mirror is imminent," to indicate the impending change in the mirror's status and the reason for the change. Further, as the vehicle continues to move, the left-side rearview mirror can be retracted. After the left-side rearview mirror is retracted, the icon indicating the vehicle displayed on the parking interface can change to icon 801' (shown in the lower right of Figure 8), which indicates that the left-side rearview mirror is retracted and the right-side rearview mirror is deployed. Optionally, after the left-side rearview mirror is retracted, the parking interface can also display dialog box 804 "Left-side rearview mirror retracted," to indicate the current status of the mirror.

[0117] In some implementations, the left-side rearview mirror can be deployed as the vehicle moves, when the collision risk is eliminated with the left-side mirror deployed. For example, before deploying the left-side rearview mirror, the vehicle's central control screen can be controlled to display a parking interface as shown in the left image of Figure 9. This parking interface includes an icon 801' indicating the vehicle and a dialog box 805 "! The collision risk of the left-side rearview mirror has been eliminated; the rearview mirror will be deployed soon," to indicate the impending change in the mirror's status and the reason for the change. Further, as the vehicle continues to move, the left-side rearview mirror can be deployed, and after the left-side rearview mirror is deployed, the icon indicating the vehicle displayed on the parking interface can change to icon 801, indicating that the vehicle's left-side rearview mirror has been deployed. Optionally, after the left-side rearview mirror is deployed, the parking interface can also display a dialog box 806 "! The left-side rearview mirror is deployed," to indicate the current status of the rearview mirror.

[0118] In some implementations, as the vehicle moves, if a new collision risk is detected on the right side of the vehicle while the left side mirror is in the deployed state and the collision risk can be eliminated, and this collision risk can be eliminated by retracting the right side mirror, the vehicle's central control screen can be controlled to display a parking interface as shown in the left image of Figure 10. This parking interface includes an icon 801' indicating the vehicle, element b, and a dialog box 807. Element b indicates that the location of the collision risk is the right side of the vehicle (or the right side mirror position), and the dialog box 807 includes the text "! The collision risk of the left side mirror has been eliminated, but there is a collision risk in the right side mirror" to alert the vehicle of the existing collision risk. Furthermore, as the vehicle continues to move, the left side mirror can be deployed and the right side mirror can be retracted. After the left side mirror is deployed and the right side mirror is retracted, the icon indicating the vehicle displayed in the parking interface can change to icon 801" as shown in the right image of Figure 10. Icon 801" indicates that the right side mirror is retracted and the left side mirror is deployed. Optionally, after the left rearview mirror is unfolded and the right rearview mirror is folded up, the parking interface can also display a dialog box 808 "! The left rearview mirror is unfolded and the right rearview mirror is folded up" to indicate the current status of the rearview mirrors.

[0119] In some implementations, where both side mirrors of the vehicle need to be folded up, the parking interface can indicate that the side mirrors are about to be folded up and / or the reason for folding them up before the mirrors are folded up; after the mirrors are folded up, the parking interface can also display an icon indicating that both side mirrors of the vehicle are folded up and / or text information indicating that both side mirrors are folded up.

[0120] In some other implementations, the parking interface can also indicate the location of obstacles that pose a collision risk to the vehicle. For example, in the scenario associated with Figure 8, if the vehicle corresponding to icon 810 is an obstacle that poses a collision risk to the vehicle, then icon 810 with a different style from other vehicle icons can be used to indicate the location of the obstacle that poses a collision risk to the vehicle. As another example, in the scenario associated with Figure 10, if the vehicle corresponding to icon 820 is an obstacle that poses a collision risk to the vehicle, then icon 820 with a different style from other vehicle icons can be used to indicate the location of the obstacle that poses a collision risk to the vehicle.

[0121] It should be noted that the aforementioned differences in style may include, but are not limited to, different colors or different line types. The aforementioned method for indicating the status of the rearview mirror and / or the reason for the change in status is only an illustrative example. In actual implementation, the aforementioned information may also be indicated through other interfaces (such as the autonomous driving interface) or other display devices (such as the instrument panel); or, relevant audio may be played through a sound device to provide the indication; or, relevant lights may be displayed through a lighting device to provide the indication. For example, when there is a risk of collision on the left side of the vehicle, the headlight located on the left rearview mirror may be controlled to flash.

[0122] Figure 11 shows another schematic flowchart of the control method provided in this application embodiment. This method can be executed by the vehicle 100 shown in Figure 1, or it can be executed by the control module 220 shown in Figure 2. The method 1000 includes:

[0123] S1010: Obtain obstacle information and vehicle status information. The obstacle information indicates the position of obstacles around the vehicle, and the vehicle status information indicates the vehicle's speed and position.

[0124] For example, obstacle information may be determined based on environmental perception information in method 300, or obstacle information may include environmental perception information in method 300; vehicle state information may include motion state information in method 300.

[0125] S1020: When driving with the first rearview mirror in the retracted state, determine whether there is a collision risk when the vehicle has the first rearview mirror in the deployed state, based on obstacle information and vehicle status information.

[0126] In one example, based on vehicle status information, a predicted path for the vehicle over a future period of time (e.g., 1 to 2 seconds) is generated. Based on this predicted path and obstacle information, it is determined whether the vehicle will collide with an obstacle if the first rearview mirror is deployed. If it is determined that the vehicle will not collide with an obstacle if the first rearview mirror is deployed, the first rearview mirror is controlled to deploy.

[0127] In another example, before the first rearview mirror is retracted, if a collision risk is detected, the location of the obstacle that poses a collision risk to the vehicle is marked. When the vehicle passes the location, it is determined that the vehicle will not collide with the obstacle if the first rearview mirror is extended, and the first rearview mirror is then extended.

[0128] For a more specific method to determine whether a vehicle will collide with an obstacle when one or both side mirrors are folded up, please refer to the descriptions in S303 and S305, which will not be repeated here.

[0129] For example, the first rearview mirror may be the left or right rearview mirror of the vehicle.

[0130] S1030: When the vehicle travels to an area where the collision risk has been eliminated when the first rearview mirror is in the deployed state, the first rearview mirror is deployed.

[0131] In some implementations, S1030 can be refined to: controlling the first rearview mirror to deploy when the collision risk is eliminated and the duration is greater than or equal to a first threshold. For example, the first threshold can be a value between 1 second and 2 seconds, or it can be other values.

[0132] In some implementations, the method further includes: before and / or while controlling the first rearview mirror to unfold, a vehicle control device provides a first message indicating at least one of the following: the first rearview mirror is about to unfold or is unfolding, or the reason for unfolding the first rearview mirror.

[0133] More specifically, the reason for deploying the first rearview mirror may include: the risk of collision has been eliminated. For example, the first information may include the information shown in dialog box 805 in Figure 9.

[0134] In some implementations, the method further includes: predicting the vehicle's predicted driving path within a first duration based on the vehicle's speed and position at a first moment, wherein the start time of the first duration is the first moment; determining whether there is a collision risk when the vehicle travels along the predicted driving path within the first duration based on obstacle information and the predicted driving path; and controlling the second rearview mirror to retract when there is a collision risk on the first side of the vehicle within the first duration, wherein the second rearview mirror is the rearview mirror located on the first side of the vehicle.

[0135] In some scenarios, the second rearview mirror and the aforementioned first rearview mirror can be the same rearview mirror; the first side of the vehicle can be the left or right side of the vehicle.

[0136] In some implementations, determining whether there is a collision risk while the vehicle is traveling along the predicted driving path within a first time period includes: determining first risk information of the vehicle based on obstacle information, the predicted driving path, and a first vehicle model, wherein the first vehicle model indicates the outer contour of the vehicle when both side mirrors are deployed; controlling the retraction of the second side mirror includes: when the first risk information indicates a collision risk on the first side, determining second risk information of the vehicle based on obstacle information, the predicted driving path, and a second vehicle model, wherein the second vehicle model indicates the outer contour of the second side mirror when it is retracted and the second side mirror is deployed; and controlling the retraction of the second side mirror when the second risk information indicates that the collision risk on the first side has disappeared.

[0137] For example, the first vehicle model may include the multi-circle model corresponding to the vehicle in state 1 in method 300, and the second vehicle model may include the multi-circle model corresponding to the vehicle in state 2 in method 300. For a more specific implementation of deriving the collision risk of the vehicle based on the first and second vehicle models, please refer to the descriptions in S303 and S304, which will not be repeated here.

[0138] In some implementations, the first duration is one between 1 and 2 seconds.

[0139] In some implementations, the method further includes: before and / or while controlling the second rearview mirror to retract, a vehicle control device provides a second message indicating at least one of the following: the second rearview mirror is about to be retracted or is being retracted, or the reason for retracting the second rearview mirror.

[0140] More specifically, the reasons for retracting the second rearview mirror may include: indicating a potential collision risk to the vehicle, the location of the potential collision risk, or the location of an obstacle that could cause a collision risk. For example, the second information may include one or more of the following: text information, element a, or icon 810 in dialog box 803 shown in Figure 8; or, the second information may include one or more of the following: text information, element b, or icon 820 in dialog box 807 shown in Figure 10; or, the second information may also include voice information, light information, etc.

[0141] In some implementations, the method further includes: before and / or while controlling the second rearview mirror to retract, a vehicle-controlled prompting device displays third information, the third information indicating at least one of the following: the location where the vehicle is at risk of collision, the location of an obstacle causing the collision risk, or a predicted driving path. For example, when the third information indicates the location where the vehicle is at risk of collision, the third information may include element a shown in FIG8 or element b shown in FIG10; when the third information indicates the location of an obstacle causing the collision risk, the third information may include icon 810 shown in FIG8 or icon 820 shown in FIG10; when the third information indicates a predicted driving path and icon 802 indicates a predicted driving path, the third information may include icon 802.

[0142] In some implementations, the method further includes controlling a third rearview mirror to remain deployed while the second rearview mirror is retracted, the third rearview mirror being a rearview mirror located on the second side of the vehicle.

[0143] In some implementations, the third rearview mirror and the aforementioned first rearview mirror are the same rearview mirror, or the second rearview mirror and the aforementioned first rearview mirror are the same rearview mirror.

[0144] In some implementations, the method further includes: when there is a collision risk on the second side of the vehicle within a first time period, controlling the third rearview mirror to retract, the third rearview mirror being the rearview mirror located on the second side of the vehicle.

[0145] The control method provided in this application predicts the vehicle's driving path over a future period based on its speed and position, which helps improve the accuracy of collision detection and the timeliness of retracting the rearview mirrors. This avoids prolonged loss of perception information due to prematurely retracting the mirrors, and also prevents collision avoidance failure due to delayed retraction. Furthermore, controlling the timely retraction of the rearview mirror on the side of the vehicle when there is a collision risk helps improve the vehicle's passage rate in collision-risk areas and reduces the probability of the vehicle getting stuck while parking or driving. Moreover, when the vehicle passes through a collision-risk area, the retracted rearview mirrors can be retracted in a timely manner, allowing the vehicle's perception and planning capabilities to recover promptly, thus improving safety during parking and / or driving.

[0146] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0147] The control method provided by the embodiments of this application has been described in detail above with reference to Figures 1 to 11. The apparatus provided by the embodiments of this application will now be described in detail below with reference to Figures 12 and 13. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments; therefore, any content not described in detail can be referred to the method embodiments above, and for the sake of brevity, will not be repeated here.

[0148] Figure 12 shows a schematic block diagram of a control device 2000 provided in an embodiment of this application. The device 2000 may include units for executing the embodiments described in the foregoing method. Furthermore, each unit in the device 2000 implements a corresponding process of the above-described method embodiments. The device 2000 includes an acquisition unit 2010, which can be used to implement corresponding data acquisition or transmission / reception functions. The device 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.

[0149] Optionally, the device 2000 further includes a storage unit, which can be used 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 can perform the relevant actions in the aforementioned method embodiments.

[0150] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0151] It should also be understood that the device 2000 described herein is embodied in the form of a functional unit. The terms “module” or “unit” may refer to application-specific ASICs, electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components that support the described functions.

[0152] The apparatuses described above are capable of implementing the corresponding steps performed by the computing platform 150 in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as processing units, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0153] Exemplarily, the acquisition unit 2010 and processing unit 2020 can be disposed in the vehicle 100 shown in FIG. 1, or they can also be disposed in the system shown in FIG. 2. More specifically, the acquisition unit 2010 and processing unit 2020 can be disposed in the control module 220. Exemplarily, the operations performed by the acquisition unit 2010 and processing unit 2020 can be performed by a single processor, or they can be performed by different processors. In specific implementation, the one or more processors can be processors disposed in the vehicle 100 shown in FIG. 1; or, the device 2000 can be a chip disposed in the vehicle 100.

[0154] In the specific implementation process, the units in the above device can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0155] Figure 13 is another schematic block diagram of the control device provided in an embodiment of this application. The device 2100 shown in Figure 13 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal interconnection paths. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0156] It should be noted that the transceiver 2120 mentioned above may include, but is not limited to, transceiver devices such as input / output interfaces, to realize communication between device 2100 and other devices or communication networks.

[0157] Memory 2130 can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes various forms such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0158] Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0159] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0160] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.

[0161] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.

[0162] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0163] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0164] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0165] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0166] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0167] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0168] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0169] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0170] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, include: Obtain obstacle information and vehicle status information, wherein the obstacle information indicates the position of obstacles around the vehicle, and the vehicle status information indicates the vehicle's speed and orientation; When the vehicle is driving with its first rearview mirror in the retracted state, the obstacle information and the vehicle status information are used to determine whether the vehicle is at risk of collision when the first rearview mirror is in the deployed state. When the vehicle travels to an area where the collision risk has been eliminated when the first rearview mirror is in the deployed state, the first rearview mirror is controlled to deploy.

2. The method according to claim 1, characterized in that, The method further includes: When the collision risk is eliminated and the duration is greater than or equal to a first threshold, the first rearview mirror is controlled to deploy.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Before and / or while controlling the first rearview mirror to unfold, a prompting device controlling the vehicle displays a first message, the first message indicating at least one of the following: the first rearview mirror is about to unfold or is unfolding, or the reason for unfolding the first rearview mirror.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Based on the vehicle's speed and position at a first moment, predict the vehicle's predicted driving path within a first duration, where the starting moment of the first duration is the first moment. Based on the obstacle information and the predicted driving path, it is determined whether there is a risk of collision when the vehicle travels along the predicted driving path within the first time period; If there is a risk of collision on the first side of the vehicle during the first time period, the second rearview mirror is controlled to retract. The second rearview mirror is the rearview mirror located on the first side of the vehicle.

5. The method according to claim 4, characterized in that, Determining whether there is a collision risk when the vehicle travels along the predicted driving path within the first time period includes: Based on the obstacle information, the predicted driving path, and the first vehicle model, the first risk information of the vehicle is determined, wherein the first vehicle model indicates the outer contour of the vehicle when both side mirrors are deployed. The control of retracting the second rearview mirror includes: When the first risk information indicates that there is a collision risk on the first side, the second risk information of the vehicle is determined based on the obstacle information, the predicted driving path, and the second vehicle model. The second vehicle model indicates the outer contour of the second rearview mirror when it is folded up and the second side rearview mirror is unfolded. When the second risk information indicates that the risk of collision on the first side has disappeared, the second rearview mirror is retracted.

6. The method according to claim 4 or 5, characterized in that, The first duration is one between 1 second and 2 seconds.

7. The method according to any one of claims 4 to 6, characterized in that, The method further includes: Before and / or while controlling the second rearview mirror to retract, a prompting device controlling the vehicle displays a second message indicating at least one of the following: the second rearview mirror is about to be retracted or is being retracted, or the reason for retracting the second rearview mirror.

8. The method according to any one of claims 4 to 7, characterized in that, The method further includes: Before and / or while controlling the second rearview mirror to retract, the vehicle's prompting device displays third information, which indicates at least one of the following: the location where the vehicle is at risk of collision, the location of an obstacle that could cause the collision risk, or the predicted driving path.

9. The method according to any one of claims 4 to 8, characterized in that, The method further includes: While the second rearview mirror is retracted, the third rearview mirror is kept extended. The third rearview mirror is a rearview mirror located on the second side of the vehicle.

10. The method according to any one of claims 4 to 8, characterized in that, The method further includes: If there is a collision risk on the second side of the vehicle during the first time period, the third rearview mirror, which is the rearview mirror located on the second side of the vehicle, is controlled to retract.

11. A control device, characterized in that, include: An acquisition unit is used to acquire obstacle information and vehicle status information, wherein the obstacle information indicates the position of obstacles around the vehicle, and the vehicle status information indicates the speed and posture of the vehicle; The processing unit is configured to determine, based on the obstacle information and the vehicle status information, whether there is a collision risk when the first rearview mirror is in the unfolded state, when the vehicle is driving with the first rearview mirror in the retracted state. The processing unit is further configured to: control the first rearview mirror to unfold when the vehicle travels to an area where the collision risk has been eliminated when the first rearview mirror is in the unfolded state.

12. The apparatus according to claim 11, characterized in that, The processing unit is also used for: When the collision risk is eliminated and the duration is greater than or equal to a first threshold, the first rearview mirror is controlled to deploy.

13. The apparatus according to claim 11 or 12, characterized in that, The processing unit is also used for: Before and / or while controlling the first rearview mirror to unfold, a prompting device controlling the vehicle displays a first message, the first message indicating at least one of the following: the first rearview mirror is about to unfold or is unfolding, or the reason for unfolding the first rearview mirror.

14. The apparatus according to any one of claims 11 to 13, characterized in that, The processing unit is also used for: Based on the vehicle's speed and position at a first moment, predict the vehicle's predicted driving path within a first duration, where the starting moment of the first duration is the first moment. Based on the obstacle information and the predicted driving path, it is determined whether there is a risk of collision when the vehicle travels along the predicted driving path within the first time period; If there is a risk of collision on the first side of the vehicle during the first time period, the second rearview mirror is controlled to retract. The second rearview mirror is the rearview mirror located on the first side of the vehicle.

15. The apparatus according to claim 14, characterized in that, The processing unit is used for: Based on the obstacle information, the predicted driving path, and the first vehicle model, the first risk information of the vehicle is determined, wherein the first vehicle model indicates the outer contour of the vehicle when both side mirrors are deployed. When the first risk information indicates that there is a collision risk on the first side, the second risk information of the vehicle is determined based on the obstacle information, the predicted driving path, and the second vehicle model. The second vehicle model indicates the outer contour of the second rearview mirror when it is folded up and the second side rearview mirror is unfolded. When the second risk information indicates that the risk of collision on the first side has disappeared, the second rearview mirror is retracted.

16. The apparatus according to claim 14 or 15, characterized in that, The first duration is one between 1 second and 2 seconds.

17. The apparatus according to any one of claims 14 to 16, characterized in that, The processing unit is also used for: Before and / or while controlling the second rearview mirror to retract, a prompting device controlling the vehicle displays a second message indicating at least one of the following: the second rearview mirror is about to be retracted or is being retracted, or the reason for retracting the second rearview mirror.

18. The apparatus according to any one of claims 14 to 17, characterized in that, The processing unit is also used for: Before and / or while controlling the second rearview mirror to retract, the vehicle's prompting device displays third information, which indicates at least one of the following: the location where the vehicle is at risk of collision, the location of an obstacle that could cause the collision risk, or the predicted driving path.

19. The apparatus according to any one of claims 14 to 18, characterized in that, The processing unit is also used for: While the second rearview mirror is retracted, the third rearview mirror is kept extended. The third rearview mirror is a rearview mirror located on the second side of the vehicle.

20. The apparatus according to any one of claims 14 to 18, characterized in that, The processing unit is also used for: If there is a collision risk on the second side of the vehicle during the first time period, the third rearview mirror, which is the rearview mirror located on the second side of the vehicle, is controlled to retract.

21. A control device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 10.

22. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 10.

23. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 10.

24. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 10.

25. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 11 to 21, or the computer-readable storage medium as described in claim 22, or the chip as described in claim 23, or the vehicle is equipped with the computer program product as described in claim 24.

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