CN116161027A - Vehicle control method and device, electronic equipment and vehicle - Google Patents

Abstract

The application is suitable for the technical field of intelligent control, and provides a control method and device of a vehicle, electronic equipment and the vehicle. The control method of the vehicle comprises the following steps: acquiring the current speed of the vehicle and the current state of the adaptive cruise control system; when the current vehicle speed is smaller than a vehicle speed threshold value and the current state is an activated state, activating a first target sensor, wherein the first target sensor is used for collecting information of targets in all directions of the vehicle; and controlling the vehicle according to the information acquired by the first target sensor. The embodiment of the application can improve the convenience of vehicle control.

Description

Vehicle control method and device, electronic equipment and vehicle

Technical Field

The application belongs to the technical field of intelligent control, and particularly relates to a vehicle control method and device, electronic equipment and a vehicle.

Background

With the development of the automobile industry, automobiles increasingly participate in our schedule life and work, and appear in various life scenes. The auxiliary safety system of the automobile can ensure safer driving and plays an unprecedented role. Intelligent driving systems are therefore emerging.

The realizable functions of intelligent driving systems are broadly divided into two categories: one class is active safety-related functions including, but not limited to, front collision pre-warning (Forward Collision Warning, FCW), blind zone detection pre-warning (BlindSpotDetection, BSD), rear collision prevention (Rear Collision Warning, RCW). The starting point of the functional design is to assist the driver in handling dangerous situations, and most of the functional design is to remind the driver through sound or images without intervention in the control of the vehicle. Another category is the functions related to driving assistance, including but not limited to adaptive cruise control systems (Adaptive Cruise Control, ACC), intelligent cruise assistance (Intelligent CruiseAssist, ICA). This type of functional design is designed to assist the driver in controlling the vehicle.

Regarding the ACC function, in a start scene at an intersection, in the related art, starting after confirmation by a user is required, and there is a problem of low convenience.

Disclosure of Invention

The embodiment of the application provides a vehicle control method and device, electronic equipment and a vehicle, which can solve the problem of low convenience in starting control of the existing vehicle.

A first aspect of the embodiments of the present application provides a control method of a vehicle configured with an adaptive cruise control system, the control method of the vehicle including: acquiring the current speed of the vehicle and the current state of the adaptive cruise control system; when the current vehicle speed is smaller than a vehicle speed threshold value and the current state is an activated state, activating a first target sensor, wherein the first target sensor is used for collecting information of targets in all directions of the vehicle; and controlling the vehicle according to the information acquired by the first target sensor.

A second aspect of the embodiments of the present application provides a control device of a vehicle configured with an adaptive cruise control system, the control device of the vehicle including: an acquisition unit configured to acquire a current vehicle speed of the vehicle and a current state of the adaptive cruise control system; the activating unit is used for activating a first target sensor when the current vehicle speed is smaller than a vehicle speed threshold value and the current state is an activating state, and the first target sensor is used for collecting information of targets in all directions of the vehicle; and the control unit is used for controlling the vehicle according to the information acquired by the first target sensor.

A third aspect of the embodiments of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for controlling a vehicle described above when the computer program is executed.

A fourth aspect of the embodiments of the present application provides a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements steps of a control method of the vehicle when the computer program is executed.

A fifth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the control method of a vehicle described above.

A sixth aspect of the embodiments of the present application provides a computer program product for causing an electronic device/vehicle to execute the method of controlling a vehicle as described in the first aspect above, when the computer program product is run on the electronic device/vehicle.

It should be appreciated that the current speed of the vehicle is less than the speed threshold and includes a start scene with a speed of 0, in the embodiment of the present application, when the current speed of the vehicle is less than the speed threshold and the current state of the adaptive cruise control system is an activated state, the first target sensor is activated, and the vehicle is controlled according to information acquired by the first target sensor on targets in all directions of the vehicle, so that the ACC system can control the vehicle to start according to the information of the targets in all directions in the vehicle start stage, the user does not need to confirm the start, the convenience of vehicle control is improved, and meanwhile, the safety of vehicle start is improved by referencing the information of the targets in all directions in the vehicle control.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic implementation flow chart of a vehicle control method according to an embodiment of the present application;

FIG. 2 is a schematic system diagram of a vehicle provided by an embodiment of the present application;

fig. 3 is a schematic flowchart of a specific implementation of a vehicle control method according to an embodiment of the present application;

fig. 4 is a schematic structural view of a control device for a vehicle according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a vehicle provided in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be protected herein.

Regarding the ACC function, in a start scene at an intersection, in the related art, starting after confirmation by a user is required, and there is a problem of low convenience. In view of this, the present application proposes a control method of a vehicle, which can control the vehicle by an ACC system according to sensor information when the vehicle starts, without requiring a user to confirm the start.

In order to illustrate the technical solution of the present application, the following description is made by specific examples.

Fig. 1 shows a schematic implementation flow chart of a vehicle control method provided in an embodiment of the present application, where the method may be applied to an electronic device, and may be applicable to situations where convenience of vehicle control needs to be improved. In the embodiment of the present application, the electronic device may refer to an intelligent device having a vehicle control function, such as an in-vehicle device, or may refer to a vehicle (the vehicle includes, but is not limited to, a fuel vehicle, a new energy vehicle, and the like).

In embodiments of the present application, the vehicle described above may be configured with an ACC system that may be used to control the vehicle.

Specifically, the control method of the vehicle may include the following steps S101 to S103.

Step S101, obtaining a current vehicle speed of the vehicle and a current state of the adaptive cruise control system.

In the embodiment of the application, the current speed is the current movement speed of the vehicle, and the current scene of the vehicle can be represented. In some embodiments, the electronic device may acquire the current vehicle speed acquired by a speed sensor configured on the vehicle, or may estimate the current vehicle speed based on the historical vehicle speed within the previous N seconds (N is greater than 0), which is not limited in this application.

The current state of the ACC system is used to characterize whether the ACC system is in use, and may include an active state and an inactive state. The activation state indicates that the ACC system is being enabled, indicating that vehicle control may be currently accomplished by the ACC system. The inactive state indicates that the ACC system is not on, indicating that vehicle control is currently being performed by other control systems/controllers, or manually by the user.

In the embodiment of the present application, the current state of the ACC system may be changed according to a control operation by the user. Specifically, when the user needs to activate the ACC system, a start control signal for the ACC system may be input through a touch screen operation, a voice control operation, a key input operation, or the like of the display screen, and the ACC system is turned on by the vehicle according to the start control signal and the current state is set to an activated state. Similarly, when the user needs to turn off the ACC system, a turn-off control signal can be input through touch screen operation, voice control operation, key input operation and the like of the display screen, the ACC system is turned off by the vehicle according to the turn-off control signal, and the current state is set to be an inactive state. Accordingly, the electronic device may acquire the current state of the ACC system recorded by the vehicle.

Step S102, when the current vehicle speed is smaller than the vehicle speed threshold value and the current state is the activated state, the first target sensor is activated.

The vehicle speed threshold is greater than 0, and the specific value can be adjusted according to practical situations, for example, 30kph (i.e., 30 km or kilometers per hour).

In embodiments of the present application, the current vehicle speed being less than the vehicle speed threshold may include a scenario in which a variety of vehicles are located. Specifically, the current vehicle speed being smaller than the vehicle speed threshold value includes a start scene in which the vehicle speed is 0 and a congested road segment scene in which the vehicle runs at a low speed.

In these scenarios, in order to ensure safety, if the current state of the ACC system is an active state, the first target sensor may be activated by the ACC system. Activating the first target sensor refers to putting the first target sensor in an operational state. When the first object sensor is in a working state, the first object sensor can be used for collecting information of objects in all directions of the vehicle.

Step S103, controlling the vehicle according to the information acquired by the first target sensor.

Specifically, the information collected by the first object sensor may include, but is not limited to, image information of objects in various directions of the vehicle, and point cloud information. The information may represent a current state and a movement trend of the targets, and the electronic device may analyze, according to the information, a vehicle distance between each target and the vehicle, a correlation (e.g., whether collision may occur) between each target and the movement trend of the vehicle, etc., so as to make a decision of a control strategy, and control the vehicle based on the corresponding control strategy.

In the embodiment of the application, when the current speed of the vehicle is smaller than the speed threshold and the current state of the adaptive cruise control system is the activated state, the first target sensor is activated, and the vehicle is controlled according to the information acquired by the first target sensor for the targets in all directions of the vehicle, so that the ACC system can control the vehicle to start according to the information of the targets in all directions in the vehicle starting stage, the user does not need to confirm the starting, the convenience of vehicle control is improved, and meanwhile, the safety of vehicle starting is improved by referencing the information of the targets in all directions in the vehicle control.

Specifically, in the ACC system in the related art, target detection is usually performed by a connected forward camera and a forward millimeter wave radar, the forward camera and the forward millimeter wave radar are suitable for long-distance detection, a physical blind area at the near end of a vehicle exists for a target in front of a road, and meanwhile, recognition of a moving target object crossing the target is limited (lateral recognition area is limited). Based on this, referring to the schematic diagram of the vehicle system shown in fig. 2, in the embodiment of the present application, the vehicle may include a parking controller, where a look-around camera and a collision avoidance radar are connected to the parking controller. In order to meet the parking requirements, a look-around camera and an anti-collision radar connected with the parking controller can be used for detecting close-range targets in all directions. When the current vehicle speed is smaller than the vehicle speed threshold value and the current state is the activation state, the electronic equipment can send an activation instruction to the parking controller, and the surrounding camera and the anti-collision radar are activated by the parking controller.

That is, the first object sensor may include a plurality of looking-around cameras and a collision avoidance radar. The plurality of looking-around cameras can be used for collecting information of targets in the running direction (namely, forward direction and backward direction) of the vehicle and targets in the vertical direction (namely, left and right sides) of the running direction. Preferably, the acquisition range of each looking-around camera can be 360 degrees. The anti-collision radar can be used for collecting information of targets in the running direction (namely, forward direction and backward direction) of the vehicle, and can specifically refer to an ultrasonic radar.

More specifically, when the electronic device is a vehicle, the vehicle may activate the looking-around camera and the anti-collision radar through the driving controller shown in fig. 2, and acquire information acquired by acquiring the target by the looking-around camera and the anti-collision radar after the activation.

In some embodiments, as shown in fig. 2, the vehicle may be configured with a braking system, a power system, and a steering system. A braking system and a power system may be used to control the longitudinal direction of the vehicle, wherein the braking system may be used to control vehicle deceleration and the power system may be used to control vehicle acceleration. The steering system can be used for controlling the steering of the vehicle and realizing the transverse control of the vehicle.

Accordingly, the first object sensor may include motion information of the object in various directions of the vehicle, including, but not limited to, a moving speed of the object, an acceleration of the object, a distance between the object and the vehicle. The electronic device may control at least one of the brake system, the power system, and the steering system based on the movement information of the target in each direction of the vehicle acquired by the first target sensor.

Specifically, in some embodiments, if the target is a following target of the vehicle, at least one of the brake system, the power system, and the steering system may be controlled according to the movement information of the following target so as to maintain the distance between the vehicle and the following target within the first preset distance range.

The following target refers to an object for following the vehicle. In some embodiments, when the ACC system is started, the electronic device may perform target detection according to a forward-looking camera and a forward millimeter wave radar connected to the ACC system, so as to determine a front vehicle of the vehicle, and use the front vehicle as a following target. In other embodiments, the following target of the vehicle may also be selected by the user. This application is not limited thereto.

After confirming the following target, if the first target sensor collects the movement information of the following target, the movement information required by the vehicle for keeping the distance between the vehicle and the following target within the first preset distance range can be determined according to the movement information of the following target, and a corner control request, a braking request and/or a torque request can be generated based on the movement information. Wherein the steering angle control request may be used to instruct the steering system to perform a steering control. The braking request may be used to instruct the braking system to control the vehicle to slow down until it is stopped. The torque request may be used to adjust the torque of an electric machine in the powertrain to control the speed of the vehicle.

It should be understood that the first preset distance range may be set according to practical situations, and may generally be set according to a safe distance from the vehicle.

In other embodiments, if the target is an obstacle avoidance target of the vehicle, at least one of the braking system, the power system and the steering system may be controlled according to the motion information of the obstacle avoidance target, so as to maintain the distance between the vehicle and the obstacle avoidance target within a second preset distance range.

The obstacle avoidance target may be other targets than a following target. According to the movement information of the obstacle avoidance target, movement information required by the vehicle for keeping the vehicle distance between the vehicle and the obstacle avoidance target within a second preset distance range can be determined, and further, a rotation angle control request, a braking request and/or a torque request are generated based on the movement information. More specifically, by controlling at least one of the brake system, the power system, and the steering system, the vehicle can be accelerated, the obstacle avoidance target is prevented from being interposed between the vehicle and the following target, and the vehicle can be decelerated and turned to pass through the obstacle avoidance target.

In addition to following and obstacle avoidance, in other embodiments, the electronic device may further control the first target sensor to stop working and control the ACC system to be turned off in response to an exit operation of the user, so that the user may autonomously control the vehicle.

In other embodiments of the present application, as shown in fig. 3, the electronic device may further perform steps S301 to S302 after acquiring the current vehicle speed of the vehicle, and the current state of the adaptive cruise control system.

Step S301, when the current vehicle speed is greater than or equal to the vehicle speed threshold, and the current state is the activated state, activating the second target sensor.

In an embodiment of the present application, a current vehicle speed greater than or equal to the vehicle speed threshold indicates that the vehicle is in a non-congested road segment scenario. In this scenario, the distance between the front and rear vehicles in the vehicle traveling direction is relatively long, and thus, the basis of the main reference of the electronic device when controlling the vehicle is a target on other lanes. Based on this, when the current vehicle speed is greater than or equal to the vehicle speed threshold value and the current state is the activated state, the electronic device may activate a second target sensor that may be used to perform information acquisition on targets on the lateral sides (i.e., both the left and right sides) of the vehicle.

Specifically, the second object sensor may include a plurality of looking-around cameras; the plurality of looking-around cameras can be used for collecting information of targets in the direction perpendicular to the running direction of the vehicle.

Step S302, controlling the vehicle according to the information acquired by the second target sensor.

For example, the electronic device may control the vehicle to avoid the obstacle to the lateral target based on the information acquired by the second target sensor. Or according to the information acquired by the second object sensor, controlling the vehicle to leave the current lane and enter other lanes under the condition of keeping a safe distance from the object on other lanes.

In other embodiments, when the current vehicle speed is less than the vehicle speed threshold and the current state of the ACC system is an inactive state, the electronic device may further control the vehicle according to the signal output by the parking controller, so as to implement a parking function of the vehicle.

Specifically, the park controller may also generate a steering angle control request, a braking request, and/or a torque request to control at least one of the steering system, the braking system, and the powertrain.

In the embodiment of the application, different sensors are started for different functional scenes through the current speed of the vehicle and the current state of the ACC system so as to utilize information acquired by the different sensors to control the vehicle, and meanwhile, the sharing of resources is realized between the driving controller and the parking controller, so that the safety and the reliability of the vehicle control are improved.

It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order according to the present application.

Fig. 4 is a schematic structural diagram of a vehicle control device 400 according to an embodiment of the present application, where the vehicle control device 400 is configured on an electronic device/vehicle. Wherein the controlled vehicle is configured with an ACC system.

Specifically, the control device 400 of the vehicle may include:

an acquisition unit 401 for acquiring a current vehicle speed of the vehicle, and a current state of the adaptive cruise control system;

an activating unit 402, configured to activate a first target sensor when the current vehicle speed is less than a vehicle speed threshold and the current state is an activated state, where the first target sensor is configured to collect information of targets in all directions of the vehicle;

and the control unit 403 is configured to control the vehicle according to the information acquired by the first target sensor.

In some embodiments of the present application, the first target sensor may include a plurality of looking-around cameras and a collision avoidance radar; the plurality of looking-around cameras are used for collecting information of targets in the running direction of the vehicle and targets in the vertical direction of the running direction; the anti-collision radar is used for collecting information of a target in the running direction of the vehicle.

In some embodiments of the present application, the vehicle may be configured with a braking system, a power system, and a steering system, the braking system may be used to control deceleration of the vehicle, the power system may be used to control acceleration of the vehicle, and the steering system may be used to control steering of the vehicle; the information collected by the first object sensor may include movement information of objects in various directions of the vehicle; accordingly, the control unit 403 may be specifically configured to: at least one of the braking system, the power system, and the steering system is controlled according to movement information of the target in each direction of the vehicle.

In some embodiments of the present application, the control unit 403 may be specifically configured to: if the target is a following target of the vehicle, controlling at least one of the braking system, the power system and the steering system according to the motion information of the following target so as to keep the distance between the vehicle and the following target within a first preset distance range;

in some embodiments of the present application, the control unit 403 may be specifically configured to: and if the target is an obstacle avoidance target of the vehicle, controlling at least one of the braking system, the power system and the steering system according to the motion information of the obstacle avoidance target so as to keep the vehicle distance between the vehicle and the obstacle avoidance target within a second preset distance range.

In some embodiments of the present application, the activation unit 402 may be specifically configured to: when the current vehicle speed is greater than or equal to the vehicle speed threshold value and the current state is the activation state, activating a second target sensor, wherein the second target sensor is used for collecting information of a target on the side of the vehicle; at this time, the control unit 403 may be further specifically configured to: and controlling the vehicle according to the information acquired by the second target sensor.

In some embodiments of the present application, the second target sensor may include a plurality of looking-around cameras; the plurality of looking-around cameras are used for collecting information of targets in the direction perpendicular to the running direction of the vehicle.

In some embodiments of the present application, the vehicle is further configured with a parking controller; the control unit 403 may be further specifically configured to: and when the current vehicle speed is smaller than the vehicle speed threshold value and the current state is an inactive state, controlling the vehicle according to a signal output by a parking controller.

It should be noted that, for convenience and brevity of description, the specific working process of the control device 400 of the vehicle may refer to the corresponding process of the method described in fig. 1 to 3, and will not be described herein again.

Fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present application. The electronic device 5 may include: a processor 50, a memory 51 and a computer program 52, such as a control program for a vehicle, stored in said memory 51 and being executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in the above-described respective vehicle control method embodiments, such as steps S101 to S103 shown in fig. 1. Alternatively, the processor 50 may perform the functions of the modules/units in the above-described device embodiments when executing the computer program 52, such as the functions of the acquisition unit 401, the activation unit 402, and the control unit 403 shown in fig. 4.

The computer program may be divided into one or more modules/units which are stored in the memory 51 and executed by the processor 50 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the electronic device.

For example, the computer program may be split into: the device comprises an acquisition unit, an activation unit and a control unit. The specific functions of each unit are as follows: an acquisition unit configured to acquire a current vehicle speed of the vehicle and a current state of the adaptive cruise control system; the activating unit is used for activating a first target sensor when the current vehicle speed is smaller than a vehicle speed threshold value and the current state is an activating state, and the first target sensor is used for collecting information of targets in all directions of the vehicle; and the control unit is used for controlling the vehicle according to the information acquired by the first target sensor.

The electronic device may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of an electronic device and is not meant to be limiting, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may further include an input-output device, a network access device, a bus, etc.

The processor 50 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 51 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 51 may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device. Further, the memory 51 may also include both an internal storage unit and an external storage device of the electronic device. The memory 51 is used for storing the computer program and other programs and data required by the electronic device. The memory 51 may also be used to temporarily store data that has been output or is to be output.

As shown in fig. 6, the present application also provides a vehicle comprising a processor 60, a memory 61 and a computer program 62 stored in the memory 61 and executable on the processor 60, for example a control program of the vehicle.

It should be understood that the vehicle may further include a plurality of sensors, wheels, housings, chassis, motors, transmissions, seats, etc. common components of vehicles, and this application is not limiting.

In addition, for convenience and brevity of description, the specific manner of implementing vehicle control by the vehicle may refer to the specific manner of implementing vehicle control by the electronic device shown in fig. 5, which is not repeated herein.

It should be noted that, for convenience and brevity of description, the structure of the electronic device/vehicle may refer to the specific description of the structure in the method embodiment, which is not repeated herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each method embodiment described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. A control method of a vehicle, characterized in that the vehicle is provided with an adaptive cruise control system, the control method of the vehicle comprising:

acquiring the current speed of the vehicle and the current state of the adaptive cruise control system;

when the current vehicle speed is smaller than a vehicle speed threshold value and the current state is an activated state, activating a first target sensor, wherein the first target sensor is used for collecting information of targets in all directions of the vehicle;

and controlling the vehicle according to the information acquired by the first target sensor.

2. The control method of a vehicle according to claim 1, wherein the first target sensor includes a plurality of looking-around cameras and a collision avoidance radar;

the plurality of looking-around cameras are used for collecting information of targets in the running direction of the vehicle and targets in the vertical direction of the running direction;

the anti-collision radar is used for collecting information of a target in the running direction of the vehicle.

3. The control method of a vehicle according to claim 1, characterized in that the vehicle is provided with a brake system for controlling deceleration of the vehicle, a power system for controlling acceleration of the vehicle, and a steering system for controlling steering of the vehicle; the information acquired by the first target sensor comprises movement information of targets in all directions of the vehicle;

the controlling the vehicle according to the information collected by the first target sensor includes:

at least one of the braking system, the power system, and the steering system is controlled according to movement information of the target in each direction of the vehicle.

4. The control method of the vehicle according to claim 3, characterized in that the controlling at least one of the brake system, the power system, and the steering system according to the movement information of the target in each direction of the vehicle includes:

if the target is a following target of the vehicle, controlling at least one of the braking system, the power system and the steering system according to the motion information of the following target so as to keep the distance between the vehicle and the following target within a first preset distance range;

and if the target is an obstacle avoidance target of the vehicle, controlling at least one of the braking system, the power system and the steering system according to the motion information of the obstacle avoidance target so as to keep the vehicle distance between the vehicle and the obstacle avoidance target within a second preset distance range.

5. The control method of a vehicle according to any one of claims 1 to 4, characterized in that after said obtaining a current vehicle speed of the vehicle, and a current state of the adaptive cruise control system, the control method of a vehicle further includes:

when the current vehicle speed is greater than or equal to the vehicle speed threshold value and the current state is the activation state, activating a second target sensor, wherein the second target sensor is used for collecting information of a target on the side of the vehicle;

and controlling the vehicle according to the information acquired by the second target sensor.

6. The control method of a vehicle according to claim 5, wherein the second target sensor includes a plurality of around-the-eye cameras; the plurality of looking-around cameras are used for collecting information of targets in the direction perpendicular to the running direction of the vehicle.

7. The control method of a vehicle according to any one of claims 1 to 4, characterized in that the vehicle is further provided with a parking controller;

after the obtaining the current vehicle speed of the vehicle and the current state of the adaptive cruise control system, the control method of the vehicle further includes:

and when the current vehicle speed is smaller than the vehicle speed threshold value and the current state is an inactive state, controlling the vehicle according to a signal output by a parking controller.

8. A control device of a vehicle, characterized in that the vehicle is provided with an adaptive cruise control system, the control device of the vehicle comprising:

an acquisition unit configured to acquire a current vehicle speed of the vehicle and a current state of the adaptive cruise control system;

the activating unit is used for activating a first target sensor when the current vehicle speed is smaller than a vehicle speed threshold value and the current state is an activating state, and the first target sensor is used for collecting information of targets in all directions of the vehicle;

and the control unit is used for controlling the vehicle according to the information acquired by the first target sensor.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the control method of a vehicle according to any one of claims 1 to 7.

10. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the control method of a vehicle according to any one of claims 1 to 7.

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