AU2019348096B2

AU2019348096B2 - Control method and system for vehicles and vehicle

Info

Publication number: AU2019348096B2
Application number: AU2019348096A
Authority: AU
Inventors: Shumiao AN; Wang AN; Zhiqiang Dong; Pengyu Fan; Ming Li; Qi Li; Yufei Liu; Hao WEN; Shiming YING
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2018-09-30
Filing date: 2019-09-30
Publication date: 2022-12-15
Anticipated expiration: 2039-09-30
Also published as: RU2771535C1; AU2019348096A1; WO2020064012A1

Abstract

Disclosed are a control method and system for a vehicle (2) and a vehicle (2). The control method for a vehicle (2) comprises the following steps: detecting whether there is a pedestrian (P1) in front of the vehicle (2); if yes, judging whether a projection condition is met according to the state of the vehicle (2); if so, projecting a pedestrian indication line (3) to the area where the pedestrian (P1) is located so as to guide the pedestrian (P1) to pass preferentially; when a pedestrian indication line (3) is projected to an area where the pedestrian (P1) is located, the vehicle (2) is subject to speed limit control so as to avoid acceleration of the vehicle (2). The method allows, when a pedestrian (P1) is detected in front of a vehicle (2) and a projection condition is met, a pedestrian indication line (3) to be projected to guide the pedestrian (P1) to preferentially pass through a road, and makes the vehicle (2) subject to speed limit control, thereby improving the safety of the vehicle (2) and the pedestrian (P1).

Description

CONTROL METHOD AND SYSTEM FOR VEHICLES AND VEHICLE CROSS REFERENCE TO RELEVANT APPLICATIONS

[0001] The present disclosure claims the priority of the Chinese patent application filed on September 3 0 th, 2018 by Great Wall Motor Company Limited with the application number of 201811166844.8 and the title of "CONTROL METHOD AND SYSTEM FOR VEHICLES AND VEHICLE", and the priority of the Chinese patent application filed on September 3 0th

2018 by Great Wall Motor Company Limited with the application number of 201811166851.8 and the title of "METHOD AND SYSTEM FOR PROJECTING PEDESTRIAN INDICATING LINE, AND VEHICLE".

TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of cars, and particularly relates to a method and system for controlling a vehicle, and a vehicle.

BACKGROUND

[0003] At traffic intersections that have no traffic signs, guiding lines or zebra crossings or at common highways, usually, the driving intention of a driver cannot be understood by surrounding pedestrians. Sometimes, the action of avoiding of the driver cannot be easily perceived timely by the pedestrian, which might cause cut-in between the pedestrian and the vehicle, which causes car accidents or traffic jam.

[0004] In the related art, sensors such as a camera or a millimeter-wave radar may be used to identify pedestrians, road information and so on. For example, when it is detected that a pedestrian is in front of the vehicle, a corresponding pedestrian guiding mark is projected according to the situation of the road. However, there is a problem that, after the pedestrian guiding mark is projected, the driver might perform a misoperation, for example, stamping the brake as the accelerator, while the pedestrian has seen the pedestrian guiding mark and is passing preferentially, which might cause a traffic accident.

SUMMARY

[0005] In view of the above, the present disclosure provides a method for controlling a vehicle. The method for controlling a vehicle can, when it is detected that a pedestrian is passing in front of a vehicle and a projection condition is satisfied, project a pedestrian indicating line, to guide the pedestrian to preferentially pass through the road, which improves the safety of the vehicle and the pedestrian.

[0006] In order to achieve the above object, the technical solutions of the present disclosure are realized as follows:

[0007] A method for controlling a vehicle, wherein the method comprises the steps of: detecting whether a pedestrian is in front of the vehicle; if yes, according to a vehicle state, judging whether a projection condition is satisfied; and if yes, projecting a pedestrian indicating line to an area where the pedestrian is located, to guide the pedestrian to pass preferentially.

[0008] Optionally, simultaneously with the projection of the pedestrian indicating line to the area where the pedestrian is located, controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle.

[0009] Optionally, the step of, according to the vehicle state, judging whether the projection condition is satisfied comprises: according to a vehicle speed and a vehicle acceleration, judging whether to avoid the pedestrian; and if yes, determining that the projection condition is satisfied.

[0010] Optionally, the step of, according to the vehicle speed and the vehicle acceleration, judging whether to avoid the pedestrian comprises: judging whether the vehicle speed is less than a preset vehicle speed; if yes, according to the vehicle acceleration, judging whether the vehicle is in a decelerating state; and if yes, determining to avoid the pedestrian.

[0011] Optionally, the method further comprises: receiving a projection mode set by a user, wherein the projection mode comprises a positive-type projection mode, a negative-type projection mode, an inquiring-type projection mode and a prohibiting-type projection mode; wherein the projecting comprises:

[0012] if the projection mode is the positive-type projection mode, the negative-type projection mode or the inquiring-type projection mode, projecting the pedestrian indicating line to the area where the pedestrian is located by using the corresponding projection mode; and

[0013] if the projection mode is the prohibiting-type projection mode, not projecting the pedestrian indicating line to the area where the pedestrian is located.

[0014] Optionally, the method further comprises: detecting whether the pedestrian is within a detection area; if yes, determining that the pedestrian has not passed, continuing to project the pedestrian indicating line to the area where the pedestrian is located, and controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle; and if the pedestrian is not within the detection area, determining that the pedestrian has passed, and stopping projecting the pedestrian indicating line to the area where the pedestrian is located.

[0015] Optionally, after the step of detecting whether a pedestrian is in front of the vehicle, the method further comprises: if yes, detecting a vehicle speed and a vehicle acceleration; according to the vehicle speed and the vehicle acceleration, judging whether to avoid the pedestrian; and if yes, projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially.

[0016] Optionally, the step of projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially comprises: judging whether a distance between the pedestrian and the vehicle is located within a projection area; and if yes, according to a change of a position of the pedestrian, projecting the pedestrian indicating line transverse to a road to a right front of the pedestrian, to guide the pedestrian to pass preferentially.

[0017] Optionally, after the step of receiving the projection mode set by the user, wherein the projection mode comprises the positive-type projection mode, the negative-type projection mode, the inquiring-type projection mode and the prohibiting-type projection mode, the method further comprises: according to the projection mode set by the user, projecting the pedestrian indicating line to the area where the pedestrian is located; wherein the projecting comprises:

[0018] if the projection mode is the positive-type projection mode, projecting when it is determined to avoid the pedestrian;

[0019] if the projection mode is the negative-type projection mode, projecting when it is determined to avoid the pedestrian and a projection time quantity is less than a preset time quantity;

[0020] if the projection mode is the inquiring-type projection mode, projecting when it is determined to avoid the pedestrian and a response of a driver has been received; and

[0021] if the projection mode is the prohibiting-type projection mode, forbidding to project.

[0022] Optionally, the step of projecting the pedestrian indicating line to the area where the pedestrian is located comprises: controlling the projected pedestrian indicating line to flicker.

[0023] The method for controlling a vehicle according to the present disclosure can, when it is detected that a pedestrian is passing in front of the vehicle and the projection condition is satisfied, project the pedestrian indicating line, to guide the pedestrian to preferentially pass through the road, which improves the safety of the vehicle and the pedestrian.

[0024] Furthermore, the method can further simultaneously control to limit the speed of the vehicle, to effectively prevent acceleration of the vehicle caused by a misoperation by the driver and prevent collision with the pedestrian, which improves the safety of the vehicle and the pedestrian.

[0025] The second object of the present disclosure is to provide a system for controlling a vehicle. The system can, when it is detected that a pedestrian is passing in front of a vehicle and a projection condition is satisfied, project a pedestrian indicating line, to guide the pedestrian to preferentially pass through the road, which improves the safety of the vehicle and the pedestrian.

[0026] In order to achieve the above object, the technical solutions of the present disclosure are realized as follows:

[0027] A system for controlling a vehicle, wherein the system comprises: a detecting module configured for detecting whether a pedestrian is in front of the vehicle; and a projecting module configured for, if it is detected by the detecting module that a pedestrian is in front of the vehicle, according to a vehicle state, judging whether a projection condition is satisfied; and if the projection condition is satisfied, projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially.

[0028] Optionally, the system further comprises: a controlling module configured for, simultaneously when the projecting module is projecting the pedestrian indicating line to the area where the pedestrian is located, controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle.

[0029] Optionally, the projecting module is configured for, according to a vehicle speed and a vehicle acceleration, judging whether to avoid the pedestrian; and if yes, determining that the projection condition is satisfied.

[0030] Optionally, the projecting module is configured for judging whether the vehicle speed is less than a preset vehicle speed; if yes, according to the vehicle acceleration, judging whether the vehicle is in a decelerating state; and if yes, determining to avoid the pedestrian.

[0031] Optionally, the controlling module is further configured for detecting whether the pedestrian is within a detection area; if yes, determining that the pedestrian has not passed, continuing to project the pedestrian indicating line to the area where the pedestrian is located by using the projecting module, and controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle; and if the pedestrian is not within the detection area, determining that the pedestrian has passed, and stopping projecting the pedestrian indicating line to the area where the pedestrian is located by using the projecting module.

[0032] Optionally, the system further comprises: a driving-intention judging module configured for, if it is detected by the detecting module that a pedestrian is in front of the vehicle, according to a vehicle speed and a vehicle acceleration, judging whether to avoid the pedestrian; and the projecting module is further configured for, if it is determined by the driving-intention judging module to avoid the pedestrian, projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially.

[0033] Optionally, the projecting module is configured for, if a distance between the pedestrian and the vehicle is located within the projection area, according to a change of a position of the pedestrian, projecting the pedestrian indicating line transverse to a road to a right front of the pedestrian, to guide the pedestrian to pass preferentially.

[0034] Optionally, the projecting module is further configured for, according to the projection mode set by the user, projecting the pedestrian indicating line to the area where the pedestrian is located, wherein the projection mode comprises a positive-type projection mode, a negative-type projection mode, an inquiring-type projection mode and a prohibiting-type projection mode; wherein the projecting comprises:

[0035] if the projection mode is the positive-type projection mode, projecting when it is determined to avoid the pedestrian;

[0036] if the projection mode is the negative-type projection mode, projecting when it is determined to avoid the pedestrian and a projection time quantity is less than a preset time quantity;

[0037] if the projection mode is the inquiring-type projection mode, projecting when it is determined to avoid the pedestrian and a response of a driver has been received; and

[0038] if the projection mode is the prohibiting-type projection mode, forbidding to project.

[0039] The system for controlling a vehicle has the same advantages as those of the above method for controlling a vehicle over the prior art, which is not discussed here further.

[0040] The third object of the present disclosure is to provide a vehicle. The vehicle can, when it is detected that a pedestrian is passing in front of a vehicle and a projection condition is satisfied, project a pedestrian indicating line, to guide the pedestrian to preferentially pass through the road, which improves the safety of the vehicle and the pedestrian.

[0041] In order to achieve the above object, the technical solutions of the present disclosure are realized as follows:

[0042] A vehicle, wherein the vehicle is provided with the system for controlling a vehicle according to any of the above embodiments.

[0043] The vehicle has the same advantages as those of the above system for controlling a vehicle over the prior art, which is not discussed here further.

[0044] An embodiment of a fourth aspect of the present disclosure discloses a computer-readable storage medium, which stores a program for controlling a vehicle, and when the program for controlling a vehicle is executed by a processor, the method for controlling a vehicle according to the first aspect is implemented.

[0045] Some of the additional aspects and advantages of the present disclosure will be given in the following description, and some will become apparent from the following description or be known from the implementation of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings, which form part of the present disclosure, are intended to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their explanation are intended to interpret the present disclosure, and do not inappropriately limit the present disclosure. In the drawings:

[0047] Fig. 1 is a flow chart of the method for controlling a vehicle according to an embodiment of the present disclosure;

[0048] Fig. 2 is a projection mode of a pedestrian indicating line when a pedestrian on the right is crossing a road according to an embodiment of the present disclosure;

[0049] Fig. 3 is a projection mode of a pedestrian indicating line when a pedestrian on the left is crossing a road according to an embodiment of the present disclosure;

[0050] Fig. 4 is a projection mode of a pedestrian indicating line when pedestrians on the two sides are crossing a road according to an embodiment of the present disclosure;

[0051] Fig. 5 is a schematic diagram of a pedestrian indicating line when a pedestrian on the left is crossing a road according to an embodiment of the present disclosure;

[0052] Fig. 6 is a control logic of the projection of the pedestrian indicating line according to an embodiment of the present disclosure;

[0053] Fig. 7 is a structural block diagram of the system for controlling a vehicle according to an embodiment of the present disclosure; and

[0054] Fig. 8 is a flow chart of the method for controlling a vehicle according to another embodiment of the present disclosure.

DETAILED DESCRIPTION

[0055] It should be noted that, subject to the avoiding of any conflict, the embodiments and the features of the embodiments of the present disclosure can be combined.

[0056] The present disclosure will be described in detail below with reference to the drawings and the embodiments. Fig. 1 is a flow chart of the method for controlling a vehicle according to an embodiment of the present disclosure. As shown in Fig. 1, the method for controlling a vehicle according to an embodiment of the present disclosure comprises the steps of:

[0057] S101: detecting whether a pedestrian is in front of the vehicle.

[0058] A sensor for detecting a pedestrian and a proximity sensor provided at the vehicle may be used to detect whether a pedestrian is in front of the vehicle, a corresponding algorithm may be used to calculate to obtain the position of the pedestrian in front of the vehicle and the distance between the pedestrian and the vehicle, and a sensor may be used to detect whether an existing guiding line such as a road sign and a zebra crossing has already existed in front.

[0059] The sensor for detecting a pedestrian includes but is not limited to: a camera, a millimeter-wave radar and a laser radar. Certainly, an ultrasonic radar may also be used to detect a pedestrian under specific conditions.

[0060] S102: if yes, according to a vehicle state, judging whether a projection condition is satisfied.

[0061] In a particular embodiment, when it is detected that a pedestrian is in front of the vehicle, the step comprises detecting the vehicle speed and the vehicle acceleration, judging whether to avoid the pedestrian, and if yes, determining that the projection condition is satisfied.

[0062] The vehicle speed may be obtained by conversion of the wheel rotational speed detected by a wheel-rotational-speed sensor, and, certainly, the vehicle speed may also be detected directly by using a speed transmitter. The vehicle acceleration may be obtained by calculating based on the real-time vehicle speed.

[0063] It should be noted that, when the vehicle is accelerating, the vehicle acceleration is positive, and when the vehicle is decelerating, the vehicle acceleration is negative.

[0064] The step of, according to the vehicle speed and the vehicle acceleration, judging whether to avoid the pedestrian comprises: judging whether the vehicle speed is less than a preset vehicle speed; if yes, according to the vehicle acceleration, judging whether the vehicle is in a decelerating state; and if yes, determining to avoid the pedestrian.

[0065] It should be understood that, when the driver is controlling the brake and the accelerator pedal, the vehicle will undergo an accelerating or decelerating process. If the vehicle speed is too high, and the driver does not perform an obvious decelerating operation, or, in other words, the vehicle acceleration is positive, that indicates that at the moment the driver is not intending to avoid the pedestrian; in other words, the projection condition is not satisfied. If the vehicle speed is low and is less than a preset vehicle speed, and the vehicle acceleration is negative, that indicates that at the moment the driver is intending to avoid the pedestrian, and, at this point, it is determined that the projection condition is satisfied.

[0066] It should be noted that the preset vehicle speed may be preset to be approximately 20 kilometers per hour. In other words, if the vehicle speed is high, for example, greater than the preset vehicle speed, even if the vehicle acceleration is negative, there is a large probability that the driver is not intending to avoid the pedestrian, but to decelerate properly and pass. Therefore, only if the vehicle speed is low and the vehicle acceleration is negative, there is a large probability that the driver is intending to avoid the pedestrian.

[0067] S103: if yes, projecting a pedestrian indicating line to an area where the pedestrian is located, to guide the pedestrian to pass preferentially.

[0068] Generally, when the vehicle is approaching a pedestrian, only if the driver intends to avoid the pedestrian, he will project the pedestrian indicating line. Therefore, in a particular embodiment, after the vehicle has determined that the driver intends to avoid the pedestrian, or, in other words, the projection condition is satisfied, the method may further comprise judging whether the distance between the pedestrian and the vehicle is located within the projection area, and if yes, according to the change of the position of the pedestrian, projecting the pedestrian indicating line transverse to the road to the right front of the pedestrian, to guide the pedestrian to pass preferentially. In other words, if the distance between the pedestrian and the vehicle is located within the projection area (for example, 10 meters), that indicates that the vehicle is close to the pedestrian. Certainly, the 10 meters are merely exemplary, and are not limiting the protection scope of the present disclosure.

[0069] In addition, the projection of the pedestrian indicating line requires to, according to the projection mode set by the user, project to the area where the pedestrian is located, wherein the projection mode comprises a positive-type projection mode, a negative-type projection mode, an inquiring-type projection mode and a prohibiting-type projection mode; wherein the projecting comprises:

[0070] if the projection mode is the positive-type projection mode, the negative-type projection mode or the inquiring-type projection mode, projecting the pedestrian indicating line to the area where the pedestrian is located by using the corresponding projection mode; and

[0071] if the projection mode is the prohibiting-type projection mode, not projecting the pedestrian indicating line to the area where the pedestrian is located.

[0072] If the projection mode is the positive-type projection mode, the projection is performed when the driver intends to avoid the pedestrian, or, in other words, the projection condition is satisfied. If the projection mode is the negative-type projection mode, the projection is performed when the driver intends to avoid the pedestrian and the projection time quantity is less than the preset time quantity. If the projection mode is the inquiring-type projection mode, the projection is performed after the driver intends to avoid the pedestrian and a response of the driver permitting to project has been received. If the projection mode is the prohibiting-type projection mode, projection is forbidden.

[0073] Fig. 6 shows the control logic of the projection of the pedestrian indicating line, which includes the follows. If the driver sets the projection mode to be the positive type, only if the function has been started up and the triggering condition is satisfied, the pedestrian will be guided by the pedestrian indicating line. If the projection mode is the negative type, then, in this time of driving, in the process from the start up to the stopping, even if the function has been started up, when the triggering condition is satisfied, merely a limited time quantity of projection is performed. For example, if the preset projection time quantity is set to be n times, then the projection is performed at the first n times of the satisfaction of the triggering condition, and the function is shut down after the projection time quantity exceeds n times. If the driver sets the projection mode to be the inquiring type, then each time it is determined that the triggering condition is satisfied, the driver is inquired by voice or by a question on the display whether to project, and the projection is performed according to the answer of the driver. If the projection mode is the prohibiting type, no projection and no inquiry will be performed.

[0074] The triggering condition is that: the vehicle speed is less than the preset vehicle speed and the vehicle is in the decelerating state; it is detected that a pedestrian is in front of the vehicle and the distance between the pedestrian and the vehicle is located within the projection area; and the projection mode set by the driver is not the prohibiting type.

[0075] The method for controlling a vehicle according to an embodiment of the present disclosure can, when it is detected that a pedestrian is passing in front of the vehicle and the projection condition is satisfied, project the pedestrian indicating line, to guide the pedestrian to preferentially pass through the road, which improves the safety of the vehicle and the pedestrian.

[0076] Further, referring to Fig. 1, the method may further comprise:

[0077] S104: simultaneously with the projection of the pedestrian indicating line to the area where the pedestrian is located, controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle.

[0078] When the pedestrian indicating line is projected to the area where the pedestrian is located, that indicates that the vehicle permits the pedestrian to pass preferentially, and, at this point, the vehicle is controlled to limit the speed, to prevent the vehicle from colliding with the pedestrian due to acceleration and causing an accident.

[0079] It can be understood that, in the process in which the vehicle is slowly travelling at a limited speed, as the vehicle is moving, the pedestrian indicating line is required to be adjusted correspondingly, to ensure that it is always in right front of the pedestrian, till the pedestrian has left the projection area.

[0080] If the sensor of the vehicle does not find that the road in front has, without limitation, a zebra crossing, a road sign, a pedestrian guiding line and so on, and the projection mode is set to be the positive type, according to the method for controlling a vehicle, the particular control strategy is as follows. As shown in Fig. 2, when a pedestrian P1 has walked from the right into the visual field of the camera of a vehicle 2, the driver, in order to avoid the pedestrian, decelerates or stops the vehicle to cause the speed to be less than a preset vehicle speed (for example, the preset vehicle speed may be 20km/h). At the moment, according to the vehicle acceleration, it is obtained that the vehicle is in the decelerating state, pixel headlights LI and L2 project the pedestrian indicating lines 3 that guide the pedestrian to cross the road to the right front of the pedestrian, and mark the direction. The pedestrian indicating lines 3 shown in Fig. 2 indicate to the pedestrian P1 the direction for walking leftwardly, and indicate to the pedestrian the intention of the driver at the moment that the vehicle is avoiding the pedestrian and the pedestrian should pass firstly, which is used as a visualized man-vehicle interaction, and during which the vehicle is controlled to limit the speed, to prevent acceleration of the vehicle, till the pedestrian has safely passed through the road in front. However, if at the moment the vehicle speed is not less than the preset vehicle speed, or, after the camera has detected a pedestrian, the driver does not perform an obvious decelerating operation, that indicates that at the moment the driver does not have a driving intention of avoiding the pedestrian, and therefore at the moment the projection condition is not satisfied, and the vehicle will not project.

[0081] As shown in Figs. 3 and 4, the method for controlling a vehicle may, according to the directions of travelling of the pedestrians on the two sides of the road, project the corresponding directions of the pedestrian indicating lines, to project for the pedestrian on the right the direction of the pedestrian indicating lines for walking leftwardly, and project for the pedestrian on the left the direction of the pedestrian indicating lines for walking rightwardly. In future, such a function may also be used for visualized man-vehicle interaction of autopilot vehicles. If an autopilot vehicle, during travelling, detects that in front a pedestrian is crossing the road, at the moment the autopilot vehicle decelerates or stops, projects the pedestrian indicating lines, to notify the pedestrian that at the moment the autopilot vehicle is avoiding the pedestrian, to guide the pedestrian to pass through the road timely, and simultaneously controls to limit the speed of the vehicle.

[0082] In addition, the projection mode of the pedestrian indicating lines may be dynamic projection. The pedestrian indicating lines shown in Fig. 5 include, without limitation, 8 pedestrian indicating lines. The pedestrian indicating lines sequentially extinguish in the order from 1 to 8; in other words, when the No. 1 pedestrian indicating line is about to extinguish, the No. 2 pedestrian indicating line is lightened, and the rest can be done in the same manner. Furthermore, the pedestrian indicating lines are lightened sequentially in the travelling direction of the pedestrian, to guide the pedestrian to move forwardly. The time interval of the sequential lightening of the pedestrian indicating lines may be but is not limited to 0.5 seconds. According to the numbers of the pedestrian indicating lines in Fig. 5, the sequence of the lightening of the pedestrian indicating lines is: 2345678-1345678-1245678-1235678-1234678; in other

words, the projected pedestrian indicating lines are controlled to flicker.

[0083] Optionally, the method further comprises, simultaneously when the vehicle is projecting the pedestrian indicating line, detecting whether the pedestrian is within a detection area; if yes, determining that the pedestrian has not passed, continuing to project the pedestrian indicating line to the area where the pedestrian is located, and controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle; and if the pedestrian is not within the detection area, determining that the pedestrian has passed, and stopping projecting the pedestrian indicating line to the area where the pedestrian is located.

[0084] In a particular embodiment, after the pedestrian has smoothly passed through the detection area, the controlling for limiting the speed of the vehicle may be eliminated; in other words, the vehicle can normally accelerate or decelerate.

[0085] The method for controlling a vehicle according to an embodiment of the present disclosure can, when it is detected that a pedestrian is passing in front of the vehicle and the projection condition is satisfied, project the pedestrian indicating line, to guide the pedestrian to preferentially pass through the road, and simultaneously control to limit the speed of the vehicle, to effectively prevent acceleration of the vehicle caused by a misoperation by the driver and prevent collision with the pedestrian, which improves the safety of the vehicle and the pedestrian.

[0086] As shown in Fig. 8, the method for controlling a vehicle according to an embodiment of the present disclosure comprises the steps of:

[0087] S801: detecting whether a pedestrian is in front of the vehicle.

[0088] S802: if yes, detecting a vehicle speed and a vehicle acceleration.

[0089] When it is detected that a pedestrian is in front of the vehicle, further the vehicle speed and the vehicle acceleration are detected.

[0090] The vehicle speed may be obtained by conversion of the wheel rotational speed detected by a wheel-rotational-speed sensor, and, certainly, the vehicle speed may also be detected directly by using a speed transmitter. The vehicle acceleration may be obtained by calculating based on the real-time vehicle speed.

[0091] It should be noted that, when the vehicle is accelerating, the vehicle acceleration is positive, and when the vehicle is decelerating, the vehicle acceleration is negative.

[0092] S803: according to the vehicle speed and the vehicle acceleration, judging whether to avoid the pedestrian.

[0093] In a particular embodiment, the step of, according to the vehicle speed and the vehicle acceleration, judging whether to avoid the pedestrian comprises: judging whether the vehicle speed is less than a preset vehicle speed; if yes, according to the vehicle acceleration, judging whether the vehicle is in a decelerating state; and if yes, determining to avoid the pedestrian.

[0094] It should be understood that, when the driver is controlling the brake and the accelerator pedal, the vehicle will undergo an accelerating or decelerating process. If the vehicle speed is too high, and the driver does not perform an obvious decelerating operation, or, in other words, the vehicle acceleration is positive, that indicates that at the moment the driver is not intending to avoid the pedestrian. If the vehicle speed is low and is less than a preset vehicle speed, and the vehicle acceleration is negative, that indicates that at the moment the driver is intending to avoid the pedestrian.

[0095] It should be noted that the preset vehicle speed may be preset to be approximately 20 kilometers per hour, in other words, if the vehicle speed is high, for example, greater than the preset vehicle speed, even if the vehicle acceleration is negative, there is a large probability that the driver is not intending to avoid the pedestrian, but to decelerate properly and pass. Therefore, only if the vehicle speed is low and the vehicle acceleration is negative, there is a large probability that the driver is intending to avoid the pedestrian.

[0096] S804: if yes, projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially.

[0097] Generally, when the vehicle is approaching a pedestrian, only if the driver intends to avoid the pedestrian, he will project the pedestrian indicating line. Therefore, in a particular embodiment, the method may comprise firstly judging whether the distance between the pedestrian and the vehicle is located within the projection area; and if yes, according to the change of the position of the pedestrian, projecting the pedestrian indicating line transverse to the road to the right front of the pedestrian, to guide the pedestrian to pass preferentially. In other words, if the distance between the pedestrian and the vehicle is located within the projection area (for example, 10 meters), that indicates that the vehicle is close to the pedestrian. Certainly, the meters are merely exemplary, and are not limiting the protection scope of the present disclosure.

[0098] In other words, if the vehicle is intending to avoid the pedestrian, if the distance between the pedestrian and the vehicle is located within the projection area, the vehicle will project a pedestrian indicating line to the right front of the pedestrian. In the process in which the vehicle is decelerating and slowly travelling, as the vehicle is moving, the pedestrian indicating line is required to be adjusted correspondingly, to ensure that it is always in right front of the pedestrian, till the pedestrian has left the projection area. Before that, the driver cannot artificially accelerate the vehicle, unless the driver manually shuts down the function, when normal operations of acceleration and deceleration can be performed.

[0099] In addition, the projection of the pedestrian indicating line requires to, according to the projection mode set by the user, project to the area where the pedestrian is located, wherein the projection mode comprises a positive-type projection mode, a negative-type projection mode, an inquiring-type projection mode and a prohibiting-type projection mode; wherein the projecting comprises:

[00100] if the projection mode is the positive-type projection mode, projecting when it is determined to avoid the pedestrian;

[00101] if the projection mode is the negative-type projection mode, projecting when it is determined to avoid the pedestrian and a projection time quantity is less than a preset time quantity;

[00102] if the projection mode is the inquiring-type projection mode, projecting when it is determined to avoid the pedestrian and a response of a driver has been received; and

[00103] if the projection mode is the prohibiting-type projection mode, forbidding to project.

[00104] Fig. 6 shows the control logic of the method for controlling a vehicle, which includes the follows. If the driver sets the projection mode to be the positive type, only if the function has been started up and the triggering condition is satisfied, the pedestrian will be guided by the pedestrian indicating line. If the projection mode is the negative type, then, in this time of driving, in the process from the start up to the stopping, even if the function has been started up, when the triggering condition is satisfied, merely a limited time quantity of projection is performed. For example, if the preset projection time quantity is set to be n times, then the projection is performed at the first n times of the satisfaction of the triggering condition, and the function is shut down after the projection time quantity exceeds n times. If the driver sets the projection mode to be the inquiring type, then each time it is determined that the triggering condition is satisfied, the driver is inquired by voice or by a question on the display whether to project, and the projection is performed according to the answer of the driver. If the projection mode is the prohibiting type, no projection and no inquiry will be performed.

[00105] The triggering condition is that: the vehicle speed is less than the preset vehicle speed and the vehicle is in the decelerating state; it is detected that a pedestrian is in front of the vehicle and the distance between the pedestrian and the vehicle is located within the projection area; and the projection mode set by the driver is not the prohibiting type.

[00106] Fig. 2 shows a projection mode of the pedestrian indicating lines when a pedestrian on the right is crossing the road. For example, if the camera does not find that the road in front has, without limitation, a zebra crossing, a road sign, a pedestrian guiding line and so on, and the projection mode is set to be the positive type, according to the method for controlling a vehicle, the following control strategy is implemented. As shown in Fig. 2, when a pedestrian P1 has walked from the right into the visual field of the camera of a vehicle 2, the driver, in order to avoid the pedestrian, decelerates or stops the vehicle to cause the speed to be less than a preset vehicle speed (for example, the preset vehicle speed may be 20km/h). At the moment, according to the vehicle acceleration, it is obtained that the vehicle is in the decelerating state, pixel headlights LI and L2 project the pedestrian indicating lines 3 that guide the pedestrian to cross the road to the right front of the pedestrian, and mark the direction, the pedestrian indicating lines 3 shown in Fig. 2 indicate to the pedestrian P1 the direction for walking leftwardly, and indicate to the pedestrian the intention of the driver at the moment that the vehicle is avoiding the pedestrian and the pedestrian should pass firstly, which is used as a visualized man-vehicle interaction, and during which the driver is forbidden to operate the vehicle to accelerate, till the pedestrian has safely passed through the road in front or the driver manually shuts down the function, when normal operations of acceleration and deceleration can be performed. However, if at the moment the vehicle speed is not less than the preset vehicle speed, or, after the camera has detected a pedestrian, the driver does not perform an obvious decelerating operation, that indicates that at the moment the driver does not have a driving intention of avoiding the pedestrian, and therefore at the moment the triggering condition is not satisfied, and the vehicle will not project.

[00107] As shown in Figs. 3 and 4, the method for controlling a vehicle may, according to the directions of travelling of the pedestrians on the two sides of the road, project the corresponding directions of the pedestrian indicating lines, to project for the pedestrian on the right the direction of the pedestrian indicating lines for walking leftwardly, and project for the pedestrian on the left the direction of the pedestrian indicating lines for walking rightwardly. In future, such a function may also be used for visualized man-vehicle interaction of autopilot vehicles. If an autopilot vehicle, during travelling, detects that in front a pedestrian is crossing the road, at the moment the autopilot vehicle decelerates or stops, projects the pedestrian indicating lines, to notify the pedestrian that at the moment the autopilot vehicle is avoiding the pedestrian, to guide the pedestrian to pass through the road timely.

[00108] Moreover, the projection mode of the pedestrian indicating lines may be dynamic projection. The pedestrian indicating lines shown in Fig. 5 include, without limitation, 8 pedestrian indicating lines. The pedestrian indicating lines may sequentially extinguish in the order from 1 to 8; in other words, when the No. 1 pedestrian indicating line is about to extinguish, the No. 2 pedestrian indicating line is lightened, and the rest can be done in the same manner. Furthermore, the pedestrian indicating lines are lightened sequentially in the travelling direction of the pedestrian, to guide the pedestrian to move forwardly. The time interval of the sequential lightening of the pedestrian indicating lines may be but is not limited to 0.5 seconds. According to the numbers of the pedestrian indicating lines in Fig. 5, the sequence of the lightening of the pedestrian indicating lines is: 2345678-1345678-1245678-1235678-1234678; in other

words, the projected pedestrian indicating lines are controlled to flicker.

[00109] The method for controlling a vehicle according to an embodiment of the present disclosure can, by detecting the vehicle speed and the vehicle acceleration, judge whether the driver is intending to avoid the pedestrian, and, if the driver is intending to avoid the pedestrian, project the pedestrian indicating line, to guide the pedestrian in front of the vehicle to preferentially pass through the road, which improves the safety of the vehicle and the pedestrian.

[00110] Fig. 7 is a structural block diagram of the system for controlling a vehicle according to an embodiment of the present disclosure. As shown in Fig. 7, the system 700 for controlling a vehicle according to an embodiment of the present disclosure comprises: a detecting module 710 and a projecting module 720.

[00111] The detecting module 710 is configured for detecting whether a pedestrian is in front of the vehicle. The projecting module 720 is configured for, if it is detected by the detecting module 710 that a pedestrian is in front of the vehicle, according to a vehicle state, judging whether a projection condition is satisfied; and if the projection condition is satisfied, projecting a pedestrian indicating line to an area where the pedestrian is located, to guide the pedestrian to pass preferentially.

[00112] Referring to Fig. 7, the system 700 for controlling a vehicle may further comprise: a controlling module 730 configured for, simultaneously when the projecting module 720 is projecting the pedestrian indicating line to the area where the pedestrian is located, controlling to limit the speed of the vehicle, to prevent acceleration of the vehicle.

[00113] In an embodiment of the present disclosure, the projecting module 720 is configured for, according to a vehicle speed and a vehicle acceleration, judging whether to avoid the pedestrian; and if yes, determining that the projection condition is satisfied.

[00114] In an embodiment of the present disclosure, the projecting module 720 is configured for judging whether the vehicle speed is less than a preset vehicle speed; if yes, according to the vehicle acceleration, judging whether the vehicle is in a decelerating state; and if yes, determining to avoid the pedestrian.

[00115] In an embodiment of the present disclosure, the controlling module 730 is further configured for detecting whether the pedestrian is within a detection area; if yes, determining that the pedestrian has not passed, continuing to project the pedestrian indicating line to the area where the pedestrian is located by using the projecting module 720, and controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle; and if the pedestrian is not within the detection area, determining that the pedestrian has passed, and stopping projecting the pedestrian indicating line to the area where the pedestrian is located by using the projecting module 720.

[00116] The system for controlling a vehicle according to an embodiment of the present disclosure can, when it is detected that a pedestrian is passing in front of the vehicle and the projection condition is satisfied, project the pedestrian indicating line, to guide the pedestrian to preferentially pass through the road, and simultaneously control to limit the speed of the vehicle, to effectively prevent acceleration of the vehicle caused by a misoperation by the driver and prevent collision with the pedestrian, which improves the safety of the vehicle and the pedestrian.

[00117] In an embodiment of the present disclosure, the system further comprises: a driving-intention judging module (not shown in Fig. 7) configured for, if it is detected by the detecting module that a pedestrian is in front of the vehicle, according to a vehicle speed and a vehicle acceleration, judging whether to avoid the pedestrian; and the projecting module is further configured for, if it is determined by the driving-intention judging module to avoid the pedestrian, projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially.

[00118] In an embodiment of the present disclosure, the projecting module is configured for, if a distance between the pedestrian and the vehicle is located within the projection area, according to a change of a position of the pedestrian, projecting the pedestrian indicating line transverse to a road to a right front of the pedestrian, to guide the pedestrian to pass preferentially.

[00119] In an embodiment of the present disclosure, the projecting module is further configured for, according to the projection mode set by the user, projecting the pedestrian indicating line to the area where the pedestrian is located, wherein the projection mode comprises a positive-type projection mode, a negative-type projection mode, an inquiring-type projection mode and a prohibiting-type projection mode; wherein the projecting comprises:

[00120] if the projection mode is the positive-type projection mode, projecting when it is determined to avoid the pedestrian;

[00121] if the projection mode is the negative-type projection mode, projecting when it is determined to avoid the pedestrian and a projection time quantity is less than a preset time quantity;

[00122] if the projection mode is the inquiring-type projection mode, projecting when it is determined to avoid the pedestrian and a response of a driver has been received; and

[00123] if the projection mode is the prohibiting-type projection mode, forbidding to project.

[00124] The system for controlling a vehicle according to an embodiment of the present disclosure can, by detecting the vehicle speed and the vehicle acceleration, judge whether the driver is intending to avoid the pedestrian, and, if the driver is intending to avoid the pedestrian, project the pedestrian indicating line, to guide the pedestrian in front of the vehicle to preferentially pass through the road, which improves the safety of the vehicle and the pedestrian.

[00125] It should be noted that the particular implementations of the system for controlling a vehicle according to the embodiments of the present disclosure are similar to the particular implementations of the method for controlling a vehicle according to the embodiments of the present disclosure, may particularly refer to the description on the method, and, in order to avoid redundancy, are not discussed herein further.

[00126] Further, an embodiment of the present disclosure discloses a vehicle, wherein the vehicle is provided with the system for controlling a vehicle according to any of the above embodiments. The vehicle can, when it is detected that a pedestrian is passing in front of the vehicle and the projection condition is satisfied, project the pedestrian indicating line, to guide the pedestrian to preferentially pass through the road, and simultaneously control to limit the speed of the vehicle, to effectively prevent acceleration of the vehicle caused by a misoperation by the driver and prevent collision with the pedestrian, which improves the safety of the vehicle and the pedestrian.

[00127] In addition, all of the other components and the functions thereof of the vehicle according to the embodiments of the present disclosure are known by a person skilled in the art known, and, in order to avoid redundancy, are not discussed herein further.

[00128] Further, an embodiment of the present disclosure discloses a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for controlling a vehicle according to any one of the above embodiments is implemented.

[00129] It should be noted that, in the description of the present disclosure, any process or method described in the flow chart or in another manner herein may be understood as representing a module, section or part of a code of an executable instruction comprising one or more steps for implementing particular logical functions or processes, and the scopes of preferable embodiments of the present disclosure encompass other implementations that may not follow the illustrated or discussed orders, including, according to the involved functions, in a substantially simultaneous mode or in an opposite order, to implement the functions, which a person skilled in the art of the embodiments of the present disclosure should understand.

[00130] The logics and/or steps described in the flow chart or in another manner herein, for example, may be deemed as a fixed-sequence list of executable instructions for implementing the logical functions, and may particularly be implemented in any computer-readable mediums, to be used by an instruction executing system, apparatus or device (for example, a computer-based system, a system comprising a processor, or another system that can read an instruction from an instruction executing system, apparatus or device and execute the instruction), or be used in combination with an instruction executing system, apparatus or device. In the description, the

"computer-readable medium" may refer to any device that can contain, store, communicate, send or transmit a program to be used by an instruction executing system, apparatus or device or be used in combination with an instruction executing system, apparatus or device. More particular examples of the computer-readable medium (non-exhaustive list) include: an electric connector (electronic device) having one or more wires, a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact-disk read only memory (CDROM). In addition, the computer-readable medium may even be paper or another suitable medium on which the program can be printed, because the program may be obtained in an electronic mode by, for example, optically scanning the paper or another medium and then editing or interpreting or, if necessary, processing in another suitable manner, and then stored into a computer memory.

[00131] A person skilled in the art can understand that all or some of the steps for implementing the method according to the above embodiments may be completed by a program instructing a relative hardware, the program may be stored in a computer-readable storage medium, and, when the program is executed, it comprises one of the steps of the process embodiments or a combination thereof.

[00132] In the description of the present disclosure, the description referring to the terms "an embodiment", "some embodiments", "example", "particular example" or "some examples" and so on means that particular features, structures, materials or characteristics described with reference to the embodiment or example are comprised in at least one of the embodiments or examples of the present disclosure. In the description, the schematic expressions of the above terms do not necessarily relate to the same embodiment or example. Furthermore, the described particular features, structures, materials or characteristics may be combined in one or more embodiments or examples in a suitable form. Furthermore, subject to avoiding contradiction, a person skilled in the art may combine different embodiments or examples described in the description and the features of the different embodiments or examples.

[00133] Although the embodiments of the present disclosure have already been illustrated and described above, it can be understood that the above embodiments are illustrative, and should not be construed as a limitation on the present disclosure, and a person skilled in the art may make variations, modifications, substitutions and improvements to the above embodiments within the scope of the present disclosure.

[00134] The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement or any form of suggestion that such prior art forms part of the common general knowledge.

[00135] It will be understood that the terms "comprise" and "include" and any of their derivatives (e.g. comprises, comprising, includes, including) as used in this specification, and the claims that follow, is to be taken to be inclusive of features to which the term refers, and is not meant to exclude the presence of any additional features unless otherwise stated or implied.

Claims

CLAIMS 1. A method for controlling a vehicle, wherein the method comprises the steps of: detecting whether a pedestrian is in front of the vehicle; if yes, according to a vehicle state, judging whether a projection condition is satisfied; and if yes, projecting a pedestrian indicating line to an area where the pedestrian is located, to guide the pedestrian to pass preferentially; the method further comprises: simultaneously with the projection of the pedestrian indicating line to the area where the pedestrian is located, controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle; wherein the method further comprises: receiving a projection mode set by a user, wherein the projection mode comprises a positive-type projection mode, a negative-type projection mode, an inquiring-type projection mode and a prohibiting-type projection mode; if the projection mode is the positive-type projection mode, the negative-type projection mode or the inquiring-type projection mode, projecting the pedestrian indicating line to the area where the pedestrian is located by using the corresponding projection mode; and if the projection mode is the prohibiting-type projection mode, not projecting the pedestrian indicating line to the area where the pedestrian is located.
2. The method for controlling a vehicle according to claim 1, wherein the step of, according to the vehicle state, judging whether the projection condition is satisfied comprises: according to a vehicle speed and a vehicle acceleration, judging whether to avoid the pedestrian; and if yes, determining that the projection condition is satisfied.
3. The method for controlling a vehicle according to claim 2, wherein the step of, according to the vehicle speed and the vehicle acceleration, judging whether to avoid the pedestrian comprises: judging whether the vehicle speed is less than a preset vehicle speed; if yes, according to the vehicle acceleration, judging whether the vehicle is in a decelerating state; and

if yes, determining to avoid the pedestrian.
4. The method for controlling a vehicle according to any one of claims 1-3, wherein the method further comprises: detecting whether the pedestrian is within a detection area; if yes, determining that the pedestrian has not passed, continuing to project the pedestrian indicating line to the area where the pedestrian is located, and controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle; and if the pedestrian is not within the detection area, determining that the pedestrian has passed, and stopping projecting the pedestrian indicating line to the area where the pedestrian is located.
5. The method for controlling a vehicle according to claim 1, wherein after the step of detecting whether a pedestrian is in front of the vehicle, the method further comprises: if yes, detecting a vehicle speed and a vehicle acceleration; according to the vehicle speed and the vehicle acceleration, judging whether to avoid the pedestrian; and if yes, projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially.
6. The method for controlling a vehicle according to claim 5, wherein the step of projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially comprises: judging whether a distance between the pedestrian and the vehicle is located within a projection area; and if yes, according to a change of a position of the pedestrian, projecting the pedestrian indicating line transverse to a road to a right front of the pedestrian, to guide the pedestrian to pass preferentially.
7. The method for controlling a vehicle according to claim 5, wherein after the step of receiving the projection mode set by the user, wherein the projection mode comprises the positive-type projection mode, the negative-type projection mode, the inquiring-type projection mode and the prohibiting-type projection mode, the method further comprises: according to the projection mode set by the user, projecting the pedestrian indicating line to the area where the pedestrian is located; wherein the projecting comprises: if the projection mode is the positive-type projection mode, projecting when it is determined to avoid the pedestrian; if the projection mode is the negative-type projection mode, projecting when it is determined to avoid the pedestrian and a projection time quantity is less than a preset time quantity; if the projection mode is the inquiring-type projection mode, projecting when it is determined to avoid the pedestrian and a response of a driver has been received; and if the projection mode is the prohibiting-type projection mode, forbidding to project.
8. The method for controlling a vehicle according to any one of claims 5-7, wherein the step of projecting the pedestrian indicating line to the area where the pedestrian is located comprises: controlling the projected pedestrian indicating line to flicker.
9. A system for controlling a vehicle, wherein the system comprises: a detecting module configured for detecting whether a pedestrian is in front of the vehicle; and a projecting module configured for, if it is detected by the detecting module that a pedestrian is in front of the vehicle, according to a vehicle state, judging whether a projection condition is satisfied; and if the projection condition is satisfied, projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially; wherein the system further comprises: a controlling module configured for, simultaneously when the projecting module is projecting the pedestrian indicating line to the area where the pedestrian is located, controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle. wherein the projecting module is further configured to perform the following steps: receiving a projection mode set by a user, wherein the projection mode comprises a positive-type projection mode, a negative-type projection mode, an inquiring-type projection mode and a prohibiting-type projection mode; if the projection mode is the positive-type projection mode, the negative-type projection mode or the inquiring-type projection mode, projecting the pedestrian indicating line to the area where the pedestrian is located by using the corresponding projection mode; and if the projection mode is the prohibiting-type projection mode, not projecting the pedestrian indicating line to the area where the pedestrian is located.
10. The system for controlling a vehicle according to claim 9, wherein the projecting module is configured for: according to a vehicle speed and a vehicle acceleration, judging whether to avoid the pedestrian; and if yes, determining that the projection condition is satisfied.
11. The system for controlling a vehicle according to claim 9, wherein the projecting module is configured for: judging whether the vehicle speed is less than a preset vehicle speed; if yes, according to the vehicle acceleration, judging whether the vehicle is in a decelerating state; and if yes, determining to avoid the pedestrian.
12. The system for controlling a vehicle according to any one of claims 9-11, wherein the controlling module is further configured for detecting whether the pedestrian is within a detection area; if yes, determining that the pedestrian has not passed, continuing to project the pedestrian indicating line to the area where the pedestrian is located by using the projecting module, and controlling to limit a speed of the vehicle, to prevent acceleration of the vehicle; and if the pedestrian is not within the detection area, determining that the pedestrian has passed, and stopping projecting the pedestrian indicating line to the area where the pedestrian is located by using the projecting module.
13. The system for controlling a vehicle according to claim 9, wherein the system further comprises: a driving-intention judging module configured for, if it is detected by the detecting module that a pedestrian is in front of the vehicle, according to a vehicle speed and a vehicle acceleration, judging whether to avoid the pedestrian; and the projecting module is further configured for, if it is determined by the driving-intention judging module to avoid the pedestrian, projecting the pedestrian indicating line to the area where the pedestrian is located, to guide the pedestrian to pass preferentially.
14. The system for controlling a vehicle according to claim 13, wherein the projecting module is configured for, if a distance between the pedestrian and the vehicle is located within the projection area, according to a change of a position of the pedestrian, projecting the pedestrian indicating line transverse to a road to a right front of the pedestrian, to guide the pedestrian to pass preferentially.
15. The system for controlling a vehicle according to claim 13, wherein the projecting module is further configured for, according to the projection mode set by the user, projecting the pedestrian indicating line to the area where the pedestrian is located, wherein the projection mode comprises a positive-type projection mode, a negative-type projection mode, an inquiring type projection mode and a prohibiting-type projection mode; wherein the projecting comprises: if the projection mode is the positive-type projection mode, projecting when it is determined to avoid the pedestrian; if the projection mode is the negative-type projection mode, projecting when it is determined to avoid the pedestrian and a projection time quantity is less than a preset time quantity; if the projection mode is the inquiring-type projection mode, projecting when it is determined to avoid the pedestrian and a response of a driver has been received; and if the projection mode is the prohibiting-type projection mode, forbidding to project.
16. A vehicle, wherein the vehicle is provided with the system for controlling a vehicle according to any one of claims 9-15.