CN115303300A - Vehicle control method, device, device and storage medium - Google Patents

Abstract

The method comprises the steps of obtaining current environment information of a vehicle, carrying out target detection on the current environment information to obtain a target existing state of a target object, determining road position information of the target object according to the current environment information if the target existing state is present to determine a road passing state of the target object, determining a control and display strategy of the vehicle based on at least one of the target existing state and the road passing state, controlling the vehicle according to the control and display strategy, and timely forwarding the current running state and the running intention of the vehicle to pedestrians so that the pedestrians can timely know the running intention of the vehicle, further improving the running safety of the vehicle and improving the user experience.

Description

Vehicle control method, device, device and storage medium

technical field

The embodiments of the present invention relate to the technical field of vehicles, and in particular to a vehicle control method, device, equipment and storage medium.

Background technique

The current automotive technology is becoming more and more mature, and self-driving vehicles have been able to achieve point-to-point automatic driving. Perceive the road environment through environmental perception sensors, combine with high-precision maps, and realize automatic driving functions through automatic driving controllers and related algorithms.

However, when driving on the road, the vehicle lacks interaction with pedestrians outside the vehicle. When the vehicle is running on the road, it will intersect with pedestrians on the road under the driving conditions such as traffic intersections and pedestrian crossings. In the above scenario, how to timely transfer the current driving state and driving intention of the vehicle to pedestrians so that pedestrians can understand the driving intention of the vehicle in time is a technical problem that road vehicles, especially autonomous vehicles, need to solve.

Contents of the invention

In view of the above-mentioned shortcomings of the prior art, embodiments of the present invention provide a vehicle control method, device, equipment and storage medium to solve the above-mentioned technical problems.

The vehicle control method provided by the embodiment of the present invention, the method includes:

Acquiring the current environment information of the vehicle, the current environment information including at least one of the current road surface image, the current roadside image, the current road surface radar data, and the current roadside radar data;

performing target detection on the current environment information to obtain the target existence state of the target object;

If the target existence state is present, determine the road position information of the target object according to the current environment information, so as to determine the road passing state of the target object;

A control and display strategy of the vehicle is determined based on at least one of the target existence state and the road passing state, and the vehicle is controlled according to the control and display strategy.

In an embodiment of the present invention, if the target existence state is existence, determining the road position information of the target object according to the current environment information, so as to determine the road passing state of the target object includes:

determining road location information of the target object according to the current environment information, the road location information including roadside or road;

If the road position information is a roadside, obtain historical information, and determine the road passing state of the target object according to the historical information and the road position information, the historical information includes historical road surface images, historical roadside images, historical At least one of road surface radar data and historical roadside radar data.

In an embodiment of the present invention, determining the road passing state of the target object according to the historical information and the road position information includes;

determining historical location information of the target object according to the historical information, the historical location information including roadside or road;

If the historical position information is different from the road position information, determining the road crossing state as no intention to cross the road;

If the historical location information is the same as the road location information, the road crossing state is determined as waiting to cross the road.

In an embodiment of the present invention, the method further includes at least one of the following:

If the road crossing state is determined to have no intention of crossing the road, the control and display strategy includes controlling the vehicle to drive slowly, and controlling the external display device of the vehicle to display first display information, and the first display information is used for indicates that the vehicle in question is in transit;

If the road crossing state is determined to be waiting to cross the road, the control and display strategy includes controlling the vehicle to stop, and controlling the external display device of the vehicle to display second display information, the second display information is used to represent the The above vehicle is in a parked state, please pass the information of the target object;

If the road location information is on the road, the road passing state includes that the target object is walking on the road, and the control and display strategy includes controlling the vehicle to stop, and controlling the external display device of the vehicle to display the second Display information.

In an embodiment of the present invention, if the road crossing state is determined to be waiting to cross the road, the method further includes:

monitoring the road crossing state of the target object;

If the road crossing state is waiting to cross the road, and the duration of the road crossing state is longer than a preset duration threshold, update the road crossing state to no intention of crossing the road;

The control and display strategy includes controlling the vehicle to drive slowly, and controlling an external display device of the vehicle to display the first display information.

In an embodiment of the present invention, the external display device includes at least one of an auditory display device and a visual display device;

If the external display device includes an auditory display device, the display method of the first display information and/or the second display information includes sound display;

If the external display device includes a visual display device, the display manner of the first display information and/or the second display information includes at least one of light display, text display, graphic display and symbol display.

In an embodiment of the present invention, the first display information is also used to display the current driving speed of the vehicle.

In an embodiment of the present invention, if the target existence status includes non-existence, the control and display strategy includes:

Obtaining the condition of the road ahead of the vehicle;

If the condition of the road ahead includes a pedestrian crossing or an intersection, control and control the external display device of the vehicle to display first display information, where the first display information is used to indicate that the vehicle is passing.

A vehicle control device provided in an embodiment of the present invention, the device includes:

An acquisition module, configured to acquire the current environment information of the vehicle, the current environment information including at least one of the current road surface image, the current roadside image, the current road surface radar data, and the current roadside radar data;

A target detection module, configured to perform target detection on the current environment information to obtain the target existence state of the target object;

A state determining module, configured to determine the road position information of the target object according to the current environment information, so as to determine the road passing state of the target object if the target existence state is present;

A control module, configured to determine a control and display strategy of the vehicle based on at least one of the target presence state and the road passing state, and control the vehicle according to the control and display strategy.

An electronic device provided by an embodiment of the present invention, the electronic device includes:

one or more processors;

The storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle control method described in any one of the above embodiments .

A computer-readable storage medium provided by an embodiment of the present invention has a computer program stored thereon, and when the computer program is executed by a processor of a computer, the computer is made to execute the vehicle control method described in any one of the above-mentioned embodiments.

Beneficial effects of the embodiment of the present invention: the vehicle control method, device, device and storage medium in the embodiment of the present invention, the method acquires the current environmental information of the vehicle, performs target detection on the current environmental information, and obtains the target existence state of the target object , if the target existence state is existence, determine the road position information of the target object according to the current environment information, so as to determine the road passing state of the target object, determine the control and display strategy of the vehicle based on at least one of the target existence state and the road passing state, and The vehicle is controlled according to the control and display strategy, and the current driving state and driving intention of the vehicle can be transmitted to pedestrians in a timely manner, so that pedestrians can understand the driving intention of the vehicle in time, further improving vehicle driving safety and improving customer experience.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application. Apparently, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative efforts. In the attached picture:

FIG. 1 is a schematic diagram of an implementation environment shown in an exemplary embodiment of the present application;

Fig. 2 is a schematic flowchart of a vehicle control method shown in an exemplary embodiment of the present application;

Fig. 3 is a flow chart of current environment information collection and target detection shown in an exemplary embodiment of the present application;

Fig. 4 is a schematic diagram of a display process of first display information or second display information shown in an exemplary embodiment of the present application;

Fig. 5 is a schematic flowchart of a vehicle control method shown in an exemplary embodiment of the present application;

Fig. 6 is a block diagram of a vehicle control device shown in an exemplary embodiment of the present application;

Fig. 7 is a block diagram of a vehicle control device shown in another exemplary embodiment of the present application;

FIG. 8 shows a schematic structural diagram of a computer system suitable for implementing the electronic device of the embodiment of the present application.

Detailed ways

Embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, but not for limiting the protection scope of the present invention.

It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic ideas of the present invention, and only the components related to the present invention are shown in the diagrams rather than the number, shape and shape of the components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the component layout type may also be more complicated.

In the following description, numerous details are discussed in order to provide a more thorough explanation of embodiments of the invention, however, it will be apparent to those skilled in the art that embodiments of the invention can be practiced without these specific details, In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail in order to avoid obscuring the embodiments of the invention.

Fig. 1 is a schematic diagram of an implementation environment shown by an exemplary embodiment of the present application. As shown in FIG. 1 , a server 101 communicates with an in-vehicle terminal installed inside a vehicle 102 via a network. The implementation equipment of the vehicle terminal includes but is not limited to any terminal equipment that supports the software generated by the vehicle control method, such as personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices. The vehicle-mounted terminal is equipped with networked terminal software, such as PC website, mobile website, Android APP, iOS APP, WeChat applet, smart watch APP, smart car APP and other smart hardware applications. The server 101 may be implemented by an independent server or a server cluster composed of multiple servers, such as a TSP (Telematics Service Provider, automobile remote service provider) server. The server/server cluster can also provide cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN (Content Delivery Network, content distribution network) , and cloud servers for basic cloud computing services such as big data and artificial intelligence platforms are not limited here. The environmental information can be collected through the image acquisition equipment installed on the vehicle, or can be collected through the image acquisition equipment installed on the road, and the radar data can also be obtained as environmental information through vehicle radar, etc., and the environmental information can be uploaded to the server or directly by The on-board terminal inside the vehicle senses and obtains the target existence state of the target object. When the target existence state is present, that is, when the target object exists in the environmental information, the road passing state of the target object is determined by detecting the environmental information, and then based on the road At least one of the passing state and the target existence state determines the control and display strategy of the vehicle, and controls the vehicle based on the control and display strategy, such as controlling the vehicle to make a sound, display prompt text or animation, etc., and convey the current driving state of the vehicle to the target object , such as parking and waiting or slow traffic. The above process can be executed independently by the server, or by the vehicle-mounted terminal, or can be realized through interaction between the server and the vehicle-mounted terminal.

Embodiments of the present application respectively provide a vehicle control method, a vehicle control device, an electronic device, a computer-readable storage medium, and a computer program product, and these embodiments will be described in detail below.

Please refer to FIG. 2 . FIG. 2 is a flowchart of a vehicle control method shown in an exemplary embodiment of the present application. The method can be applied to the implementation environment shown in FIG. 1 and is specifically executed by the server 101 or the vehicle-mounted terminal in the implementation environment, or jointly executed by the server and the vehicle-mounted terminal. It should be understood that the method may also be applicable to other exemplary implementation environments, and be specifically executed by devices in other implementation environments, and this embodiment does not limit the applicable implementation environments of the method.

As shown in FIG. 2, in an exemplary embodiment, the vehicle control method includes at least step S201 to step S204, which are described in detail as follows:

Step S201, acquiring the current environment information of the vehicle.

Wherein, the current environment information is collected by an image collection device and/or by a vehicle-mounted radar device. The image collection device may be a camera or other device installed on the vehicle, or may be collected by a camera or other device installed at an intersection.

The current environment information includes at least one of current road image, current roadside image, current road radar data, and current roadside radar data. The current road surface image may be an image of the road surface including the road on which the vehicle is driving, or may be an image of a scene viewed from the driving position of the vehicle. The current roadside image may be collected by an image acquisition device disposed on the side of the vehicle, including images of the roadside of the road on which the vehicle is traveling, such as sidewalks on at least one side, bicycle lanes, and the like. The current roadside image may also be collected by a camera set on the road. The current road surface radar data may be radar data of the road surface including the road on which the current vehicle is traveling, which is collected by a laser radar or a millimeter-wave radar installed on the vehicle. The current roadside radar data may be radar data collected by a laser radar or a millimeter-wave radar installed on the vehicle, including the roadside (such as a sidewalk or a non-motor vehicle lane on at least one side) of the road on which the current vehicle is traveling.

The smart driving vehicle is equipped with various sensors, the image acquisition device may be a camera, and the on-board radar device includes but is not limited to at least one of the following, laser radar, millimeter wave radar and ultrasonic radar. Among the many sensors, the camera is one of the most important sensors, which can collect the vehicle's environmental image as the current environmental information through image acquisition devices such as cameras. The environment image may be an image in front and/or side of the vehicle, or an image within a preset distance range of the vehicle. When the image acquisition device is arranged on the vehicle, it may be a driving recorder of the vehicle, and the image acquisition device may collect images in front of the vehicle in the direction of travel, or collect images in the surrounding direction of the vehicle. Generally speaking, a vehicle may pose a threat to a target object that is or may be located within a certain range on its driving path. Therefore, in order to save computing power, only images or radar data within a preset distance in the direction of the vehicle’s driving path can be determined as Current environment information. For example, the vehicle itself is equipped with a millimeter-wave radar and a camera, which can identify pedestrian information. This specific implementation method can be realized by related technical means, and will not be repeated here. The environmental image captured by the camera installed at the intersection can also be used as the current environmental information to identify pedestrian information. For example, if the target object is a pedestrian, a pedestrian recognition camera is installed at the traffic intersection to record the state of pedestrians on the road; the pedestrian information at the intersection is transmitted through the network The on-board terminal equipment or server of the vehicle can then analyze whether there are pedestrians, and can identify the road passing status of pedestrians, and control the vehicle to carry out polite pedestrian operations, such as parking and slowing down, according to the road passing status and whether there are pedestrians.

Among them, the collection of current environmental information can be collected through the vehicle's own radar and camera, or collected by the camera installed at the intersection, and the above-mentioned current environmental information is transmitted to the vehicle's vehicle terminal or server through the network.

Step S202, performing target detection on the current environment information to obtain the target existence state of the target object.

The current environment information includes at least one of the two categories of image information and radar information, and the method of target detection for the current environment information can be implemented in a manner known to those skilled in the art, such as pre-training an image detection model for detecting target objects or the radar data detection model, so that the image detection model or the radar data detection model outputs the target existence state of whether the target object exists by detecting the current environmental information. When the target object exists, that is, when the target existence state is existence, It is possible to continue to output the road position information of the target object.

This process can use the road perception technology in the related art to perform real-time perception (environment perception) of the current environment information during the driving process of the vehicle to determine whether there is a target object, and when there is a target object, determine the current driving road of the target object The location relationship on the road is the road location information, whether it is on the roadside or in the road.

In an embodiment, refer to FIG. 3 . FIG. 3 is a flow chart of current environment information collection and target detection shown in an exemplary embodiment of the present application. As shown in Figure 3, the way of target detection can be: identify pedestrian information through the vehicle's own radar and camera; identify pedestrians through cameras installed at intersections; transmit pedestrian information at intersections to vehicles through the network; The pedestrian information is fused to obtain the recognition result of the pedestrian, that is, the existence status of the target object and the road location information. The pedestrian information processor can be set up in the server, and can also be set in the vehicle-mounted terminal of the vehicle.

In an embodiment, the method can also adopt dual fusion of pedestrian perception modules, which has higher reliability. The recognition of pedestrians by the vehicle's own radar and camera is fused with the pedestrian information recognized by the camera installed at the intersection to more accurately identify pedestrian information. The vehicle itself is equipped with millimeter wave radar and camera, which can identify pedestrian information. Cameras installed at intersections to identify pedestrian information: install pedestrian recognition cameras at traffic intersections to record the status of pedestrians on the road; transmit pedestrian information at intersections to vehicles through the network; vehicles carry out polite pedestrian operations based on road pedestrian information.

Step S203 , if the target existence status is existence, determine the road position information of the target object according to the current environment information, so as to determine the road crossing status of the target object.

Optionally, the road passing state of the target object may be determined according to the road position information of the target object.

In one embodiment, if the target existence state is existence, determining the road position information of the target object according to the current environment information, so as to determine the road passing state of the target object includes:

Determine the road location information of the target object according to the current environment information, and the road location information includes the roadside or the road;

If the road location information is roadside, obtain historical information, and determine the road passing state of the target object according to the historical information and road location information. The historical information includes historical road surface images, historical roadside images, historical road surface radar data, and historical roadside radar data. at least one.

Determining the road position information of the target object based on the image or radar data in the current environment information can be to pre-train the corresponding image target detection model and radar data target detection model respectively, so as to realize the detection of the target object and the determination of the road position information The manner can be realized by means known to those skilled in the art, and is not limited here.

In an embodiment, determining the road-traveling state of the target object according to the historical information and road position information includes;

Determine the historical location information of the target object according to the historical information, the historical location information includes the roadside or the road;

If the historical location information is different from the road location information, determine the road crossing state as no intention to cross the road;

If the historical position information is the same as the road position information, the road crossing state is determined as waiting to cross the road.

Wherein, the manner of determining the historical location information according to the historical information is consistent with the above-mentioned manner of determining the road location relationship according to the current environment information, and will not be repeated here.

If both the historical location information and the road location information are on the roadside, it means that the target object has been standing on the roadside or walking on the roadside. At this time, it may have the intention of crossing the road, so it needs to give way. Determine its road crossing status as waiting to cross the road. Conversely, if the historical location information is on the road and the road location information is on the side of the road, it means that the target object has already crossed the road. At this time, it may not have the intention to cross the road, so there is no need to give way for it. Determine its road crossing state as no intention of crossing the road.

Sometimes, there are a small number of pedestrians who have just completed the traffic on the road and turn back and need to cross the road again. At this time, in order to avoid misjudgment in this situation, the method also includes, if the historical position information is different from the road position information, acquiring the face of the target object feature, if there are facial features, and the orientation of the face is opposite to the side of the road where the target object is located, at this time, the road crossing state is determined as waiting to cross the road; otherwise, there are no facial features, or there are facial features but the orientation of the face is not is the opposite side of the road where the target object is located, then the road crossing state is determined as no intention of crossing the road. The orientation of the face can be determined by determining facial features and collecting angle information of facial feature points, and can also be realized by other methods known to those skilled in the art.

Step S204, determining the control and display strategy of the vehicle based on at least one of the target existence state and the road passing state, and controlling the vehicle according to the control and display strategy.

The control and display strategy at least includes displaying the first display information or the second display information.

When the target existence state of the target object is non-existent, obtain the current road segment information of the vehicle. If the current road segment information is target information, the control and display strategy is to control the vehicle to slow down. If the current road segment information is ordinary information, then control and The display strategy is to control the vehicle to drive according to the original driving strategy. That is, the original driving strategy of the vehicle is not actively changed. Wherein, the current road section information includes intersections, culverts, tunnels, schools, villages and other areas where laws and regulations require slowing down, and the above current road section information can be determined as the target information. The current road section information also includes other information other than the target information such as high speed, urban fast lane, non-intersection road, etc. At this time, the driving road section of the vehicle is not a road section that requires slowing down, so the original driving strategy of the vehicle can be maintained to continue driving .

In one embodiment, if the road location information is on the road, the road passing status includes that the target object is walking on the road;

The control and display strategy includes: controlling the parking of the vehicle, and controlling the external display device of the vehicle to display the parking of the vehicle and asking the target object to pass the information.

Wherein, the parking position of the control vehicle can be set by those skilled in the art according to needs, such as parking at a certain distance from the target object, or parking at a preset road traffic marking line position, such as the parking line of a pedestrian crossing.

In some embodiments, after controlling the vehicle to stop, the method further includes:

Continuously collect current environmental information and perform target detection until the target object does not exist, or determine the road position information of the target object as the roadside based on the current environmental information, that is, the road passing state of the target object at this time is no passing through The road intention is to control the vehicle to start legally in a safe state (starting under the premise of meeting the instructions of the road traffic instructor and the instructions of the road traffic lights).

In some embodiments, when the target existence state is present, before determining the road position information of the target object according to the current environment information, so as to determine the road traversing state of the target object, the method further includes:

Verify the identity of the target object, if the target object is a traffic law enforcement officer, identify the gesture information of the traffic law enforcement officer, determine the control and display strategy of the vehicle based on the gesture information or prompt manual attention to the driving state of the vehicle, and prompt the road of the gesture information Traffic instructions, so that the driver of the vehicle can control the vehicle to drive according to the gesture information. If there is no gesture information, the step of determining the road position information of the target object to determine the road crossing state of the target object is performed.

In some embodiments, before obtaining the current environment information of the vehicle, the method further includes:

If the vehicle is at an intersection with traffic lights, obtain the current indication color of the red street light, and if it is yellow or green, obtain the current environment information of the vehicle;

If it is red, the control and display strategy is stop.

In one embodiment, the method also includes at least one of the following:

If the road passing state is determined to be no intention of crossing the road, the control and display strategy includes controlling the vehicle to drive slowly, and controlling the external display device of the vehicle to display the first display information, the first display information is used to indicate that the vehicle is passing;

If the road crossing state is determined to be waiting to cross the road, the control and display strategy includes controlling the vehicle to stop, and controlling the external display device of the vehicle to display second display information. The second display information is used to indicate that the vehicle is in a parked state, and the target object is asked to pass information.

If the road location information is on the road, the road passing state includes that the target object is walking on the road, and the control and display strategy includes controlling the vehicle to stop, and controlling the external display device of the vehicle to display the second display information. Based on the above manner, the method may further include controlling the vehicle to start driving when it is detected that the target object leaves the vehicle traffic lane or the target object reaches the side of the roadside where the target object's face is facing.

In some embodiments, if the road crossing state is determined to be waiting to cross the road, the method further includes:

Monitoring the road passing state of the target object, the way to determine the road passing state can be obtained by continuously collecting current environmental information and determining the road passing state;

If the road crossing state is waiting to cross the road, and the duration of the road crossing state is longer than the preset duration threshold, update the road crossing state to no intention of crossing the road, and continue to wait if the duration is less than the preset duration threshold;

The control and display strategy includes controlling the vehicle to drive slowly, and controlling the external display device of the vehicle to display the first display information.

If the road crossing state changes to no intention of crossing the road or the target object is crossing the road, control the vehicle to drive or stop according to the above-mentioned preset control and display strategy, and change the display content correspondingly to the external display device of the controlled vehicle.

In one embodiment, the external display device includes at least one of an auditory display device and a visual display device;

If the external display device includes an auditory display device, the display method of the first display information and/or the second display information includes sound display;

If the external display device includes a visual display device, the display method of the first display information and/or the second display information includes at least one of light display, text display, graphic display and symbol display.

In an embodiment, the first display information is also used to display the current driving speed of the vehicle.

In an embodiment, if the target presence status includes non-existence, the control and display strategy includes:

Obtain the road conditions ahead of the vehicle;

If the condition of the road ahead includes a pedestrian crossing or an intersection, the external display device of the vehicle is controlled to display the first display information, and the first display information is used to indicate that the vehicle is passing.

It should be noted that the target objects in the above embodiments may be objects preset by those skilled in the art, such as pedestrians and animals.

The method provided by the above embodiment realizes real-time perception of the environment while the vehicle is driving, and the vehicle slows down in advance and judges whether there are pedestrians (target objects) ahead when passing an intersection or on a road where pedestrians may pass through; if there are pedestrians on the road ahead, Recognize in three situations: the pedestrian is crossing the road (the target object is crossing the road), the pedestrian is waiting to cross the road at the intersection (waiting to cross the road), the pedestrian has no intention to cross the road at the intersection (no intention to cross the road); according to the results of environmental perception , to determine the driving state of the vehicle. If there are no pedestrians on the road ahead, the vehicle will maintain the current speed; if there are pedestrians crossing the road ahead, the vehicle will brake to a stop; if there are pedestrians waiting to cross the road at the intersection, the vehicle will brake to a stop; if the pedestrian has no intention of crossing the road at the intersection, the vehicle Slow down traffic; according to the driving state of the vehicle, the corresponding driving state is presented to pedestrians in the form of human-computer interaction information, that is, the first display information or the second display information is displayed through the external display device.

For an example, refer to FIG. 4 , which is a schematic flow diagram of displaying first display information or second display information shown in an exemplary embodiment of the present application. As shown in Figure 4, displaying the first display information or the second display information through the external display device includes:

If there are no pedestrians on the road ahead, the vehicle will keep passing at the current speed, and the driving status of the vehicle will be displayed in the form of sound, light, graphics or symbols, and the current speed of the car will be displayed on the front face of the vehicle; if there are pedestrians on the road ahead, but there is no intention to cross the road, the vehicle will Maintain the current speed, display the driving status of the vehicle in the form of sound, light, graphics or symbols, and at the same time display the current speed of the vehicle on the front face of the vehicle, and convey to pedestrians that the vehicle is passing normally at this time and will not stop for polite pedestrian operation; if the road ahead When pedestrians are crossing the road, or pedestrians are waiting to cross the road at the intersection, the vehicle brakes to a stop, and the front face of the vehicle displays parking information, and shows that the vehicle is giving way to pedestrians in the form of sound, light, graphics or symbols. The vehicle determines which one or more display methods to use to display the first display information or the second display information according to the pedestrian's passing action, that is, the target existence state and the road passing state.

It can be seen that the vehicle control method provided in this application can enable at least one of the following interaction modes between the vehicle and the target object:

Visual interaction, by installing a display device at the front of the vehicle, conveying information to pedestrians through text, graphics and symbols (the first display information);

Auditory interaction, through the installation of speakers at the front of the vehicle, the voice outputs interactive information (second display information) to pedestrians.

Referring to FIG. 5 , FIG. 5 is a schematic flowchart of a vehicle control method shown in an exemplary embodiment of the present application. As shown in Figure 5, taking the target object as a pedestrian as an example, the presence or absence of pedestrians is identified by transmitting the current environmental information to the vehicle-mounted terminal of the vehicle. The vehicle-mounted terminal is equipped with an environment perception module to identify pedestrian information on the road. That is, the car shown in the figure recognizes people. Judging whether there are pedestrians may get any of the following four results, whether there are pedestrians or there are pedestrians. When there are pedestrians, it can be divided into the following three situations: pedestrians are passing through, pedestrians are waiting to pass through, and pedestrians have no intention of passing through. For pedestrians who are walking on the crosswalk (pedestrians are walking through), the stop of the vehicle will not affect their normal passage, and the communication information of the vehicle to give way to pedestrians will be displayed. For pedestrians waiting to pass at the intersection (pedestrians waiting to pass through), the vehicle stops and waits for the pass to be completed, and displays the information of the vehicle giving way to pedestrians. If the pedestrian continues to wait and does not pass through the road for a certain period of time, the system judges that he is a pedestrian and has not passed through for the time being The road intention, the system changes the driving state and displays the driving information to pedestrians. For pedestrians who have no intention of crossing the road at the intersection, the vehicle receives the pedestrian's no intention of crossing the road in real time, passes slowly and displays the driving status in real time. When parking and waiting for pedestrians to pass through, stop and wait for pedestrians to pass through, then exit the current control and display strategy.

In other words, in the manner of the above-mentioned embodiment, if there is no pedestrian on the road ahead, the vehicle maintains the current speed, and the driving state of the vehicle is displayed in the form of sound, light, graphics or symbols, and the current speed of the car is displayed on the front face of the vehicle; There are pedestrians, but no intention to cross the road, the vehicle maintains the current speed, and the driving status of the vehicle is displayed in the form of sound, light, graphics or symbols. Will stop to perform polite pedestrian operation; if there are pedestrians crossing the road on the road ahead, or pedestrians waiting to cross the road at the intersection, the vehicle brakes to a stop, the front face of the vehicle displays parking information, and displays the vehicle in the form of sound, light, graphics or symbols Giving way to pedestrians.

In one embodiment, after determining the control and display strategy of the vehicle based on at least one of the target presence state and the road passing state, the method further includes:

Determine display information based on control and display strategies;

The external display device is controlled to display the first display information or the second display information based on the display signal.

For different display strategies, corresponding display information is pre-configured, such as what color of light to use, or the text content to be displayed, etc.

In the vehicle control method provided by the above-mentioned embodiments, by acquiring the current environment information of the vehicle and performing target detection on the current environment information, the target existence status of the target object is obtained, and if the target existence status is existence, the road position of the target object is determined according to the current environment information Information, to determine the road passing state of the target object, determine the control and display strategy of the vehicle based on at least one of the target existence state and the road passing state, and control the vehicle according to the control and display strategy, and can timely update the current driving state of the vehicle and The driving intention is transmitted to pedestrians, so that pedestrians can understand the vehicle's driving intention in time, which further improves vehicle driving safety and improves customer experience.

Fig. 6 is a block diagram of a vehicle control device according to an exemplary embodiment of the present application. The device can be applied to the implementation environment shown in FIG. 1 and is specifically configured in a server or a vehicle-mounted terminal. The apparatus may also be applicable to other exemplary implementation environments, and be specifically configured in other devices, and this embodiment does not limit the implementation environments applicable to the apparatus.

As shown in FIG. 6, the exemplary vehicle control device 600 includes:

The acquisition module 601 is used to acquire the current environment information of the vehicle, the current environment information includes at least one of the current road surface image, the current roadside image, the current road surface radar data, and the current roadside radar data;

A target detection module 602, configured to perform target detection on the current environment information to obtain the target existence state of the target object;

The state determination module 603 is used to determine the road position information of the target object according to the current environmental information if the target existence state is existence, so as to determine the road passing state of the target object;

The control module 604 is configured to determine the control and display strategy of the vehicle based on at least one of the target existence state and the road passing state, and control the vehicle according to the control and display strategy.

Fig. 7 is a block diagram of a vehicle control device shown in another exemplary embodiment of the present application. As shown in Figure 7, the device includes:

The environment perception module (that is, the acquisition module, target detection module and state determination module in Figure 6) is used for real-time perception of the environment during vehicle driving, including intersection information, traffic signal information, and pedestrian information on the road;

The vehicle driving decision-making module (that is, the control module in Figure 6) is used to determine the driving state of the vehicle according to the result of environmental perception: if there is no pedestrian on the road ahead, the vehicle maintains the current speed; if there is a pedestrian crossing the road ahead, The vehicle brakes to a stop; if there are pedestrians waiting to cross the road at the intersection, the vehicle brakes to a stop; if the pedestrian has no intention of crossing the road at the intersection, the vehicle slows down and passes;

The human-computer interaction information presentation control module is used to timely control the interactive information conveyed to pedestrians according to the signal of the vehicle driving decision module;

The human-computer interaction information presentation module (that is, the external display device) is used to present the corresponding driving state to pedestrians in the form of human-computer interaction information according to the signal input of the human-computer interaction information presentation control module.

It should be noted that the vehicle control device provided in the above embodiment and the vehicle control method provided in Fig. 2 of the above embodiment belong to the same concept, and the specific way of performing operations of each module and unit has been described in detail in the method embodiment , which will not be repeated here. In the actual application of the vehicle control device provided by the above embodiments, the above function allocation can be completed by different functional modules according to the needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above , which is not limited here.

The embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are processed by the one or more When the controller is executed, the electronic device is made to realize the vehicle control method provided in the above-mentioned various embodiments.

FIG. 8 shows a schematic structural diagram of a computer system suitable for implementing the electronic device of the embodiment of the present application. It should be noted that the computer system 1100 of the electronic device shown in FIG. 8 is only an example, and should not limit the functions and scope of use of this embodiment of the present application.

As shown in Figure 8, the computer system 1100 includes a central processing unit (Central Processing Unit, CPU) 1101, which can be stored in a program in a read-only memory (Read-Only Memory, ROM) 1102 or loaded from a storage part 1108 to a random It accesses programs in the memory (Random Access Memory, RAM) 1103 to execute various appropriate actions and processes, such as executing the methods described in the above-mentioned embodiments. In RAM 1103, various programs and data necessary for system operation are also stored. The CPU 1101 , ROM 1102 , and RAM 1103 are connected to each other via a bus 1104 . An input/output (Input/Output, I/O) interface 1105 is also connected to the bus 1104 .

The following components are connected to the I/O interface 1105: an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including a cathode ray tube (Cathode Ray Tube, CRT), a liquid crystal display (Liquid Crystal Display, LCD), etc., and a speaker ; a storage section 1108 including a hard disk or the like; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I/O interface 1105 as needed. A removable medium 1111 such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc. is mounted on the drive 1110 as necessary so that a computer program read therefrom is installed into the storage section 1108 as necessary.

In particular, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments of the present application include a computer program product, which includes a computer program carried on a computer-readable medium, where the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via communication portion 1109, and/or installed from removable media 1111. When this computer program is executed by a central processing unit (CPU) 1101, various functions defined in the system of the present application are performed.

It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash memory, optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any suitable The combination. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program thereon. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. . A computer program embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Wherein, each block in the flowchart or block diagram may represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or part of the code includes one or more executable instruction. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block in the block diagrams or flowchart illustrations, and combinations of blocks in the block diagrams or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a A combination of dedicated hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software or by hardware, and the described units may also be set in a processor. Wherein, the names of these units do not constitute a limitation of the unit itself under certain circumstances.

Another aspect of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer is made to execute the above-mentioned vehicle control method. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently without being assembled into the electronic device.

Another aspect of the present application also provides a computer program product or computer program, the computer program product or computer program comprising computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the vehicle control method provided in each of the above embodiments.

The above-mentioned embodiments only illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present invention shall still be covered by the claims of the present invention.

Claims (11)

1. A vehicle control method, characterized by comprising:

acquiring current environment information of a vehicle, wherein the current environment information comprises at least one of a current road surface image, a current roadside image, current road surface radar data and current roadside radar data;

carrying out target detection on the current environment information to obtain a target existence state of a target object;

if the target existing state is present, determining road position information of the target object according to the current environment information so as to determine a road passing state of the target object;

and determining a control and display strategy of the vehicle based on at least one of the target existing state and the road passing state, and controlling the vehicle according to the control and display strategy.

2. The vehicle control method according to claim 1, wherein determining road position information of the target object based on the current environment information to determine the road passing state of the target object if the target existence state is existence comprises:

determining road position information of the target object according to the current environment information, wherein the road position information comprises a roadside or a road;

if the road position information is the roadside, acquiring historical information, and determining the road passing state of the target object according to the historical information and the road position information, wherein the historical information comprises at least one of historical road surface images, historical roadside images, historical road surface radar data and historical roadside radar data.

3. The vehicle control method according to claim 2, wherein determining the road-passing state of the target object based on the history information and the road position information includes;

determining historical position information of the target object according to the historical information, wherein the historical position information comprises roadside or in-road information;

if the historical position information is different from the road position information, determining the road passing state as no road passing intention;

and if the historical position information is the same as the road position information, determining the road passing state as a road waiting to pass.

4. The vehicle control method of claim 3, further comprising at least one of:

if the road passing state is determined to be the state without the intention of passing the road, the control and display strategy comprises the steps of controlling the vehicle to slowly run and controlling an external display device of the vehicle to display first display information, wherein the first display information is used for indicating that the vehicle is passing;

if the road passing state is determined as a road waiting for passing, the control and display strategy comprises controlling the vehicle to stop and controlling an external display device of the vehicle to display second display information, wherein the second display information is used for indicating that the vehicle is in a parking state and requesting target object passing information;

and if the road position information is in the road, the road passing state comprises that the target object passes through the road surface, and the control and display strategy comprises controlling the vehicle to stop and controlling an external display device of the vehicle to display the second display information.

5. The vehicle control method according to claim 4, wherein if the road passing state is determined as a waiting-to-pass road, the method further comprises:

monitoring the road passing state of the target object;

if the road passing state is a waiting road passing state and the duration of the road passing state is greater than a preset duration threshold, updating the road passing state into a non-passing road intention;

the control and display strategy comprises controlling the vehicle to slowly run and controlling an external display device of the vehicle to display the first display information.

6. The vehicle control method according to any one of claims 4 or 5, characterized in that the outward presentation means includes at least one of an auditory presentation means and a visual presentation means;

if the external display device comprises an auditory display device, the display mode of the first display information and/or the second display information comprises sound display;

if the external display device comprises a visual display device, the display mode of the first display information and/or the second display information comprises at least one of light display, character display, graphic display and symbol display.

7. The vehicle control method according to any one of claims 4 or 5, characterized in that the first presentation information is also used to present a current running speed of the vehicle.

8. The vehicle control method according to any one of claims 1 to 5, wherein if the target presence state includes absence, the control and presentation strategy includes:

acquiring the front road condition of the vehicle;

and if the front road surface condition comprises a pedestrian crossing or an intersection, controlling an external display device of the vehicle to display first display information, wherein the first display information is used for indicating that the vehicle is passing.

9. A vehicle control apparatus, characterized in that the apparatus comprises:

the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring current environment information of a vehicle, and the current environment information comprises at least one of a current road surface image, a current roadside image, current road surface radar data and current roadside radar data;

the target detection module is used for carrying out target detection on the current environment information to obtain a target existence state of a target object;

the state determining module is used for determining road position information of the target object according to the current environment information if the target existing state is present so as to determine the road passing state of the target object;

and the control module is used for determining a control and display strategy of the vehicle based on at least one of the target existence state and the road passing state and controlling the vehicle according to the control and display strategy.

10. An electronic device, characterized in that the electronic device comprises:

one or more processors;

storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to carry out the method of any one of claims 1 to 8.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor of a computer, causes the computer to carry out the method of any one of claims 1 to 8.

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