CN-121469423-B - Vehicle control method and related equipment

CN121469423BCN 121469423 BCN121469423 BCN 121469423BCN-121469423-B

Abstract

The application provides a vehicle control method and related equipment, wherein the vehicle control method comprises the steps of responding to driving of a driver in a target vehicle, determining road condition information of an environment where the target vehicle is located, responding to the road condition information, determining a vehicle to be warned, which is positioned behind the target vehicle, without a lane changing parking condition, based on the road condition information, obtaining target parameters of a road where the vehicle to be warned is located, determining a transverse offset distance of the vehicle to be warned relative to the target vehicle, determining a target projection position in front of the vehicle to be warned according to the target parameters and the transverse offset distance, and projecting a risk identifier to the target projection position, wherein the risk identifier is used for indicating the vehicle to be warned to avoid the target vehicle. According to the application, the running safety of the vehicle is improved.

Inventors

LI QILI
DAI YANGLIN
XIONG WEIMING
SU JING
Song Chongchong

Assignees

浙江吉利控股集团有限公司
吉利汽车研究院（宁波）有限公司

Dates

Publication Date: 20260512
Application Date: 20260108

Claims (9)

1. A vehicle control method characterized by comprising: Determining road condition information of an environment in which a target vehicle is located in response to the driver in the target vehicle being out of driving of the target vehicle; determining a vehicle to be warned after the target vehicle in response to determining that the target vehicle does not have a lane change parking condition based on the road condition information; acquiring a target parameter of a road where the vehicle to be warned is located, and determining a transverse offset distance of the vehicle to be warned relative to the target vehicle, wherein the target parameter comprises at least one of gradient and bending rate; determining a projection position to be determined in front of the vehicle to be warned according to the target parameter and the transverse offset distance, determining a target distance between the vehicle to be warned and the target vehicle, comparing the target distance with a preset minimum following distance to obtain a comparison result, determining the minimum projection distance of the target vehicle according to the height and the vehicle speed of the target vehicle if the comparison result indicates that the target distance is smaller than the minimum following distance, and determining a projection position corresponding to the minimum projection distance on a road surface behind the target vehicle as a target projection position; Projecting a risk identifier to the target projection position, wherein the risk identifier is used for indicating the vehicle to be warned to avoid the target vehicle.
2. The vehicle control method according to claim 1, characterized by further comprising: and determining the projection position to be determined as a target projection position in response to the comparison result indicating that the target distance is greater than or equal to the minimum following distance.
3. The vehicle control method according to claim 1, characterized in that the projecting a risk identification to the target projection position includes: Determining a first projection parameter of a projection device in the target vehicle according to the target parameter and the target projection position; And controlling the projection equipment to project a risk identifier at the target projection position according to the first projection parameter.
4. The vehicle control method according to claim 1, characterized in that the projecting a risk identification to the target projection position includes: Acquiring environment parameters corresponding to the environment where the target vehicle is located, wherein the environment parameters comprise at least one of environment illumination intensity and visibility; determining a second projection parameter of a projection device in the target vehicle according to the target projection position, the environment parameter and the current time; And controlling the projection equipment to project a risk identifier at the target projection position according to the second projection parameter.
5. The vehicle control method according to any one of claims 1 to 4, characterized by further comprising, before projecting a risk identification to the target projection position: Determining a driving risk type of the target vehicle; Determining a projection element according to the driving risk type, wherein the projection element comprises at least one of projection content, projection shape, display mode, projection color and projection size; and generating a risk identifier according to the projection element.
6. The vehicle control method according to any one of claims 1 to 4, characterized in that the determining the road condition information of the environment in which the target vehicle is located includes: acquiring duration time corresponding to the driver in the target vehicle being separated from driving the target vehicle; And determining the road condition information of the environment where the target vehicle is located in response to the duration reaching the set duration.
7. A vehicle, characterized by comprising: the first determining module is used for determining road condition information of the environment where the target vehicle is located in response to the fact that a driver in the target vehicle breaks away from driving of the target vehicle; the second determining module is used for determining a vehicle to be warned after the target vehicle in response to the fact that the target vehicle does not have the lane change parking condition based on the road condition information; The acquisition module is used for acquiring target parameters of a road where the vehicle to be warned is located, and determining a transverse offset distance of the vehicle to be warned relative to the target vehicle, wherein the target parameters comprise at least one of gradient and bending rate; And the third determining module is used for determining a projection position to be determined in front of the vehicle to be warned according to the target parameter and the transverse offset distance, determining a target distance between the vehicle to be warned and the target vehicle, comparing the target distance with a preset minimum following distance to obtain a comparison result, determining the minimum projection distance of the target vehicle according to the height and the vehicle speed of the target vehicle if the comparison result indicates that the target distance is smaller than the minimum following distance, and determining a projection position corresponding to the minimum projection distance on a road surface behind the target vehicle as a target projection position, and projecting a risk mark to the target projection position as the target projection position, wherein the risk mark is used for indicating the vehicle to be warned to avoid the target vehicle.
8. A vehicle comprising a memory and a processor, wherein, The memory is connected with the processor and is used for storing programs; the processor is configured to implement the vehicle control method according to any one of claims 1 to 6 by running a program in the memory.
9. A computer program product, characterized in that the computer program, when being executed by a processor, implements the vehicle control method according to any one of claims 1-6.

Description

Vehicle control method and related equipment Technical Field The application relates to the technical field of vehicles, in particular to a vehicle control method and related equipment. Background With the improvement of living standard of people, vehicles become an indispensable transportation means for people to travel. When a driver drives a vehicle, the driver can get away from driving the vehicle due to the situation of making a call, checking a mobile phone or fatigue, and in such a situation, safety accidents can be caused. In an exemplary technique, a driver assist function is provided in a vehicle, and when it is detected that a driver is out of driving the vehicle, the driver assist function takes over the vehicle to automatically drive the vehicle. However, when the driver-assist function makes a decision on driving of the vehicle, the decision needs to be confirmed by the driver, but the driver is not driving of the vehicle, and the driver cannot confirm the decision of the driver-assist function, so that a safety accident occurs between the current vehicle and other surrounding vehicles, that is, the running safety of the vehicle is low. Disclosure of Invention Based on the above state of the art, the present application provides a vehicle control method and related apparatus for solving the problem of low driving safety of a vehicle. In order to achieve the technical purpose, the application specifically provides the following technical scheme: In a first aspect, the present application provides a vehicle control method including: Determining road condition information of an environment in which a target vehicle is located in response to the driver in the target vehicle being out of driving of the target vehicle; determining a vehicle to be warned after the target vehicle in response to determining that the target vehicle does not have a lane change parking condition based on the road condition information; acquiring a target parameter of a road where the vehicle to be warned is located, and determining a transverse offset distance of the vehicle to be warned relative to the target vehicle, wherein the target parameter comprises at least one of gradient and bending rate; And determining a target projection position in front of the vehicle to be warned according to the target parameter and the transverse offset distance, and projecting a risk identifier to the target projection position, wherein the risk identifier is used for indicating the vehicle to be warned to avoid the target vehicle. In some embodiments, the determining the target projection position in front of the vehicle to be warned according to the target parameter and the lateral offset distance includes: Determining a projection position to be determined in front of the vehicle to be warned according to the target parameter and the transverse offset distance; Determining a target distance between the vehicle to be warned and the target vehicle; Comparing the target distance with a preset minimum following distance to obtain a comparison result; and determining a target projection position according to the comparison result and the projection position to be determined. In some embodiments, the determining the target projection position according to the comparison result and the projection position to be determined includes: responding to the comparison result to indicate that the target distance is greater than or equal to the minimum following distance, and determining the projection position to be determined as a target projection position; And responding to the comparison result to indicate that the target distance is smaller than the minimum following distance, determining the minimum projection distance of the target vehicle according to the height and the vehicle speed of the target vehicle, and determining a projection position corresponding to the minimum projection distance on a road surface behind the target vehicle as a target projection position. In some embodiments, the projecting the risk identification to the target projection location comprises: Determining a first projection parameter of a projection device in the target vehicle according to the target parameter and the target projection position; And controlling the projection equipment to project a risk identifier at the target projection position according to the first projection parameter. In some embodiments, the projecting the risk identification to the target projection location comprises: Acquiring environment parameters corresponding to the environment where the target vehicle is located, wherein the environment parameters comprise at least one of environment illumination intensity and visibility; determining a second projection parameter of a projection device in the target vehicle according to the target projection position, the environment parameter and the current time; And controlling the projection equipment to project a risk identifier at the target