CN118107517A

CN118107517A - Method and device for monitoring vehicle and vehicle

Info

Publication number: CN118107517A
Application number: CN202410089567.4A
Authority: CN
Inventors: 储继源
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2024-01-22
Filing date: 2024-01-22
Publication date: 2024-05-31

Abstract

The application provides a method and a device for monitoring a vehicle and the vehicle, wherein the method comprises the following steps: if the fact that the vehicle starts a sentinel mode and the target rearview mirror of the vehicle has a unfolding obstacle is detected, determining whether the target vehicle exists in the direction of the target rearview mirror; if a target vehicle exists in the direction of the target rearview mirror, acquiring vehicle state information of the target vehicle; determining an acquisition mode of target video data around the vehicle according to the vehicle state information; and acquiring target video data according to the acquisition mode so as to enable the vehicle to run in a sentinel mode. According to the scheme, when the unfolding obstacle exists in the self-propelled target rearview mirror, the mode of acquiring the target video data can be determined to acquire the target video data, so that the vehicle can normally run in the sentinel mode.

Description

Method and device for monitoring vehicle and vehicle

Technical Field

The present application relates to the field of vehicle technologies, and in particular, to a method and an apparatus for monitoring a vehicle, and a vehicle in the field of vehicle technologies.

Background

Along with the improvement of the technology level and the economic condition, the demands of people on vehicles are not limited to common vehicles, and the demands of people on protection of loving vehicles are higher because of the mobile Internet intelligent travel equipment. Therefore, the sentry mode of the vehicle is generated, namely, the surrounding environment of the vehicle is monitored in real time through cameras arranged around the vehicle, and when the vehicle is subjected to sudden impact or other actions invading the vehicle, the system shoots and records on-site pictures through the cameras and alarms in time to remind a driver, so that powerful support is provided for subsequent maintenance of the rights and interests of the vehicle owners.

At present, a left looking around camera and a right looking around camera of a vehicle are respectively arranged on lower shells of a left rearview mirror and a right rearview mirror, and the rearview mirrors can be used for collecting environmental video data by using the cameras after being unfolded; however, in some situations, the deployment of the rear view mirror may be impaired, resulting in the inability to acquire video data for vehicle monitoring. Therefore, in a scenario where the rearview mirror has an unfolding obstacle, how to ensure the normal operation of the vehicle in the sentry mode is a problem that needs to be solved currently.

Disclosure of Invention

The application provides a method and a device for monitoring a vehicle and the vehicle.

In a first aspect, there is provided a method of monitoring a vehicle, the method comprising:

If the fact that the vehicle starts a sentinel mode and the target rearview mirror of the vehicle has a unfolding obstacle is detected, determining whether the target vehicle exists in the direction of the target rearview mirror, wherein the target rearview mirror comprises a target camera;

If a target vehicle exists in the direction of the target rearview mirror, acquiring vehicle state information of the target vehicle; the vehicle state information comprises whether a first camera in the target vehicle is started or not and whether a first rearview mirror of the target vehicle has a folding function or not; the first rearview mirror is a rearview mirror close to a vehicle and comprises a first camera;

Determining an acquisition mode of target video data around the vehicle according to the vehicle state information; the acquisition mode comprises the steps of acquiring target video data through a first camera or acquiring the target video data through a target camera;

and acquiring target video data according to the acquisition mode so as to enable the vehicle to run in a sentinel mode.

In the above technical solution, if there is a deployment obstacle in the target rearview mirror of the vehicle under the condition that the vehicle starts the sentinel mode, determining the acquisition mode of the target video data according to the vehicle state information of the target vehicle in the direction of the target rearview mirror; because the vehicle state information comprises whether the first rearview mirror in the other vehicle close to the own vehicle has a folding function or not and whether the first camera in the first rearview mirror is started or not; therefore, it can be determined to acquire the target video data by the first camera of the other vehicle or to acquire the data by the target camera of the own vehicle according to the vehicle state information; the method ensures that the unfolding obstacle exists on the target rearview mirror of the own vehicle, determines the target video data acquisition mode to acquire the target video data in the acquisition mode, and ensures that the vehicle can normally operate in a sentinel mode.

The target rearview mirror may have a deployment obstacle including: there are obstacles (e.g., other vehicles) around the vehicle, and the target rearview mirror does not have a deployment space; or the target rearview mirror itself fails and can not be unfolded.

With reference to the first aspect, in some possible implementations, the presence of the deployment obstacle on the target rearview mirror includes that the target rearview mirror does not have a deployment space, and the determining, according to vehicle state information, an acquisition manner of target video data around the vehicle includes:

If the first camera is detected to be opened, or if the first rearview mirror is in an unfolded state and does not have a folding function, determining that the acquisition mode is to acquire target video data through the first camera; if the first rearview mirror has a folding function, determining that the acquisition mode is to acquire target video data through the target camera.

In the technical scheme, the first camera is detected to be started, so that the target vehicle is acquiring video data in the direction of the first camera; the first rearview mirror is in an unfolding state and does not have a folding function, so that the target rearview mirror of the bicycle cannot be unfolded by controlling the folding of the first rearview mirror; because the video data collected by the first camera and the video data collected by the target camera of the own vehicle have an overlapping area, when the target camera of the own vehicle cannot collect the target video data, the first camera can acquire part of the video data which can be collected by the target camera, so that the video data of the own vehicle can be supplemented; ensuring that the self-vehicle can normally operate the sentry mode. If the first rearview mirror has a folding function, the description can be folded by controlling the first rearview mirror, so that the rearview mirror of the self-vehicle can be unfolded smoothly, video data required by the self-vehicle can be acquired in time through a target camera of the self-vehicle, and the self-vehicle can be ensured to run in a sentinel mode.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, if it is detected that the first camera is turned on, or if the first rearview mirror is in an unfolded state and does not have a folding function, determining that the acquiring manner is to acquire the target video data through the first camera includes:

If the target vehicle is detected to start the sentry mode, or if the target vehicle is detected to not start the sentry mode and the first rearview mirror is in an unfolding state and does not have a folding function, determining that the acquisition mode is to acquire target video data through the first camera; the first camera is started in a sentinel mode of the target vehicle.

In the above technical solution, the presence of the expansion obstacle of the target rearview mirror includes that the target rearview mirror does not have an expansion space, which means that the expansion obstacle of the target rearview mirror of the own vehicle is not caused by a failure of the target rearview mirror, but the expansion of the target rearview mirror of the own vehicle is affected by the rearview mirror of the own vehicle; if the target vehicle is detected to start a sentinel mode, the target vehicle is indicated to acquire surrounding environment video data, and the video data of the direction in which the first camera is positioned are also included; since the video data collected by the first camera and the video data collected by the target camera of the own vehicle have an overlapping area, when the target camera of the own vehicle cannot collect the video data, the target video data (for example, part of video data in the collection range of the target camera) can be obtained by the first camera; if the target vehicle is detected to be in an unopened sentinel mode and the first rearview mirror is in an unfolded state and does not have a folding function, the first camera of the target vehicle is not operated, environmental video data cannot be collected, and the target rearview mirror of the vehicle cannot be unfolded by controlling the folding of the first rearview mirror; thus, target video data is acquired by the first camera; the own vehicle can request the target vehicle to start a first camera, and the first camera collects video data; thereby ensuring that the self-vehicle can normally operate the sentry mode.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, if the first rearview mirror has a folding function, determining that the acquiring manner is to acquire the target video data through the target camera includes: if the target vehicle does not start the sentinel mode and the first rearview mirror has a folding function, determining that the acquisition mode is to acquire target video data through a target camera; the first camera is closed when the target vehicle is not in the sentinel mode.

In the technical scheme, if the target vehicle does not start the sentinel mode, the first camera is in an unoperated state and video data cannot be acquired; the first rearview mirror has a folding function, and the first rearview mirror can be requested to be controlled to be folded by the vehicle; therefore, the target camera is used for acquiring the target video data, namely, the first rearview mirror of the target vehicle is required to be folded, the target camera of the own vehicle is controlled to be opened, and the video data acquired by the complete target camera can be acquired to run the sentry mode of the own vehicle.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the acquiring, according to an acquiring manner, target video data includes:

If the first camera is detected to be started, first request information is sent to a target vehicle so that the vehicle can acquire target video data; if the first rearview mirror is in an unfolding state and does not have a folding function, and the first camera is detected to be closed, first request information and second request information are sent to a target vehicle so that the vehicle can acquire target video data; if the first rearview mirror has a folding function, sending third request information to a target vehicle and controlling the opening of a target camera so as to enable the vehicle to acquire target video data; the first request information is used for requesting to acquire target video data acquired by the first camera; the second request information is used for requesting the first camera to be started; the third request information is used for requesting the first rearview mirror to fold.

In the above technical solution, the first request information is used for acquiring video data acquired by the first camera, the second request information is used for requesting the first camera to be opened, and the third request information is used for requesting the first rearview mirror to be folded; different request information is sent to the target vehicle according to different vehicle state information of the target vehicle, so that the self vehicle can acquire target video data, and the defect that video data are lost under the condition that a target rearview mirror is provided with an unfolding obstacle is avoided, and a sentinel mode cannot be operated normally.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, if the target rearview mirror includes a first target rearview mirror and a second target rearview mirror, if a target vehicle exists in a direction in which the target rearview mirror is located, acquiring vehicle state information of the target vehicle includes:

If the first target rearview mirror is located in the direction of the first target vehicle and the second target rearview mirror is located in the direction of the second target vehicle, acquiring vehicle state information of the first target vehicle and vehicle state information of the second target vehicle, and whether the first target vehicle and the second target vehicle are in a flameout state or not;

according to the vehicle state information, determining an acquisition mode of target video data around the vehicle comprises the following steps:

If the first cameras in the first target vehicle and the second target vehicle are detected to be started and the first target vehicle and the second target vehicle are in a flameout state, the target video data is determined to be acquired through the first cameras, the whistle mode of the vehicle is controlled to be closed, and the target radar in the vehicle is controlled to be started.

In the above technical solution, if there is a first target vehicle in the direction of the first target rearview mirror and there is a second target vehicle in the direction of the second target rearview mirror, it is indicated that other vehicles are parked on both sides of the own vehicle; if the first cameras in the first target vehicle and the second target vehicle are detected to be started and the first target vehicle and the second target vehicle are in a flameout state, the situation that the vehicles on two sides cannot drive away temporarily and video data of partial areas on two sides of the vehicle are collected is indicated, at the moment, the first cameras are used for acquiring target video data, the whistle mode of the vehicle is controlled to be closed, the first cameras of the vehicles on two sides of the vehicle can be used for acquiring target video data, and energy saving of the vehicle is achieved; and controlling the target radar in the vehicle to be started, and because the power consumption of the radar is lower than that of the camera, under the condition that partial environment video data on two sides of the vehicle can be acquired through the first camera, the radar is used for replacing the camera to monitor the vehicle, so that the power consumption of the vehicle can be reduced, and energy saving is realized.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the method further includes:

if the target radar detects that a moving object exists in the preset range of the vehicle, the camera in the direction of the target radar is controlled to be started, so that video data in the direction of the target radar are obtained.

In the technical scheme, if the target radar monitors that a moving object exists in the preset range of the vehicle, the camera in the direction of the target radar is controlled to be started, and when the target radar is abnormal, the camera can be started in time to acquire video data, so that the safety of the vehicle is ensured.

If the acquisition mode is that the target video data are acquired through the target camera, when an unlocking instruction of the target vehicle is detected, controlling the folding of the target rearview mirror so that the vehicle acquires the target video data through the first camera; if the acquisition mode is that the target video data are acquired through the first camera, when the target vehicle is detected to be away, the target rearview mirror is controlled to be unfolded, so that the vehicle can acquire the target video data through the target camera.

In the above technical solution, if the acquiring mode is to acquire the target video data through the target camera (i.e., acquire the target video data through the target camera of the own vehicle), the first rearview mirror of the target vehicle is controlled to fold, so that the target video data can be acquired through the own vehicle; therefore, when an unlocking instruction of the target vehicle is detected, the folding of the target rearview mirror is controlled to not influence the normal unfolding of the first rearview mirror of the target vehicle, and the target video data cannot be acquired in the folding process of the target rearview mirror, so that the video data of the vehicle can be timely supplemented by acquiring the target video data through the first camera;

If the acquiring mode is that the target video data is acquired through the first camera (i.e. acquired through the first camera of the other vehicle), when the target vehicle is driven away, the target video data cannot be acquired from the first camera again, so that the driving away of the target vehicle is detected, the unfolding of the target rearview mirror is controlled, and the integrity of the self-vehicle video data can be ensured by acquiring the target video data through the target camera.

In a second aspect, there is provided an apparatus for monitoring a vehicle, the apparatus comprising:

The first determining module is used for determining whether a target vehicle exists in the direction of the target rearview mirror if the vehicle is detected to start a sentinel mode and the target rearview mirror of the vehicle has a unfolding obstacle, wherein the target rearview mirror comprises a target camera;

The first acquisition module is used for acquiring vehicle state information of a target vehicle if the target vehicle exists in the direction of the target rearview mirror; the vehicle state information comprises whether a first camera in the target vehicle is started or not and whether a first rearview mirror of the target vehicle has a folding function or not; the first rearview mirror is a rearview mirror close to a vehicle and comprises a first camera;

the second determining module is used for determining the acquisition mode of the target video data around the vehicle according to the vehicle state information; the acquisition mode comprises the steps of acquiring target video data through a first camera or acquiring the target video data through a target camera;

And the second acquisition module is used for acquiring target video data according to the acquisition mode so as to enable the vehicle to run in a sentinel mode.

With reference to the second aspect, in some possible implementations, the presence of the deployment obstacle in the target rearview mirror includes that the target rearview mirror does not have a deployment space, and the second determining module includes a first determining unit, configured to determine, if it is detected that the first camera is opened, or if the first rearview mirror is in a deployed state and does not have a folding function, that the acquiring mode is to acquire the target video data through the first camera; and the second determining unit is used for determining that the acquisition mode is to acquire the target video data through the target camera if the first rearview mirror has the folding function.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the first determining unit is specifically configured to determine, if the target vehicle is detected to be in a sentinel mode, or if the target vehicle is detected to be in a sentinel mode not opened, and the first rearview mirror is in an unfolded state and does not have a folding function, that the acquiring manner is to acquire the target video data through the first camera; the first camera is started in a sentinel mode of the target vehicle.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, if the target vehicle does not open the sentinel mode, and the first rearview mirror has a folding function, the second determining unit determines that the acquiring manner is to acquire the target video data through the target camera; the first camera is closed when the target vehicle is not in the sentinel mode.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the second obtaining module is specifically configured to send, if the first camera is detected to be turned on, first request information to the target vehicle so that the vehicle obtains the target video data;

If the first rearview mirror is in an unfolding state and does not have a folding function, and the first camera is detected to be closed, first request information and second request information are sent to a target vehicle so that the vehicle can acquire target video data;

If the first rearview mirror has a folding function, sending third request information to a target vehicle and controlling the opening of a target camera so as to enable the vehicle to acquire target video data; the first request information is used for requesting to acquire target video data acquired by the first camera; the second request information is used for requesting the first camera to be started; the third request information is used for requesting the first rearview mirror to fold.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, if the target rearview mirror includes a first target rearview mirror and a second target rearview mirror, the first obtaining module is configured to obtain vehicle state information of the first target vehicle and vehicle state information of the second target vehicle, and whether the first target vehicle and the second target vehicle are in a flameout state if there is a first target vehicle in a direction in which the first target rearview mirror is located and a second target vehicle in a direction in which the second target rearview mirror is located;

the second determining module is specifically configured to determine that the target video data is acquired through the first camera, control a whistle mode of the vehicle to be closed, and control a target radar in the vehicle to be opened if the first camera in the first target vehicle and the second target vehicle is detected to be opened, and the first target vehicle and the second target vehicle are in a flameout state.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the apparatus further includes a first control module, configured to control, if a moving object exists in a preset range of the vehicle detected by the target radar, turning on a camera in a direction in which the target radar is located, so as to obtain video data in the direction in which the target radar is located.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the apparatus further includes: the second control module is used for controlling the folding of the target rearview mirror when the unlocking instruction of the target vehicle is detected if the acquisition mode is that the target video data is acquired through the target camera, so that the vehicle acquires the target video data through the first camera; if the acquisition mode is that the target video data are acquired through the first camera, when the target vehicle is detected to be away, the target rearview mirror is controlled to be unfolded, so that the vehicle can acquire the target video data through the target camera.

In a third aspect, a vehicle is provided that includes a memory and a processor. The memory is for storing executable program code and the processor is for calling and running the executable program code from the memory such that the vehicle performs the method of the first aspect or any of the possible implementations of the first aspect.

In a fourth aspect, there is provided a computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the method of the first aspect or any one of the possible implementations of the first aspect.

In a fifth aspect, a computer readable storage medium is provided, the computer readable storage medium storing computer program code which, when run on a computer, causes the computer to perform the method of the first aspect or any one of the possible implementations of the first aspect.

Drawings

FIG. 1 is a schematic illustration of the location of a sensor in a vehicle according to an embodiment of the present application;

FIG. 2 is a schematic view of a scenario provided by an embodiment of the present application;

FIG. 3 is a system architecture diagram according to an embodiment of the present application;

FIG. 4 is a schematic flow chart of a method of monitoring a vehicle provided by an embodiment of the application;

FIG. 5 is a schematic view of another scenario provided by an embodiment of the present application;

FIG. 6 is a schematic flow chart diagram of another method of monitoring a vehicle provided by an embodiment of the present application;

FIG. 7 is a schematic flow chart diagram of another method of monitoring a vehicle provided by an embodiment of the present application;

FIG. 8 is a schematic structural view of a device for monitoring a vehicle according to an embodiment of the present application;

Fig. 9 is a schematic structural view of a vehicle according to an embodiment of the present application.

Detailed Description

The technical scheme of the application will be clearly and thoroughly described below with reference to the accompanying drawings. Wherein, in the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B: the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and furthermore, in the description of the embodiments of the present application, "plural" means two or more than two.

The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

Fig. 1 is a schematic diagram of a position of a sensor in a vehicle according to an embodiment of the present application.

Illustratively, the vehicle 10 has four looking-around cameras mounted therein, including a front looking-around camera, a rear looking-around camera, a left looking-around camera, and a right looking-around camera; two front angle radars and two rear angle radars are also installed. It should be understood that the number of sensors and the locations of installation shown in fig. 1 are only one example, and embodiments of the present application are not particularly limited thereto.

Wherein, left side looks around the camera and right side looks around the camera and installs on the lower casing of left rear-view mirror and right rear-view mirror.

When the vehicle 10 starts the sentinel mode, the four looking-around cameras start working, and the collected four-way looking-around video data are sent to an intelligent driving controller of the vehicle 10 for algorithm monitoring.

The sentry mode is a passive safety system, and can monitor the vehicle and the surrounding environment of the vehicle when the vehicle owner is not in the vehicle, so as to ensure the safety of the vehicle and the vehicle owner. When the vehicle owner is not in the vehicle, the guard mode can start the safety anti-theft mechanism of the vehicle to prevent the vehicle from being stolen or destroyed, and meanwhile, the environment around the vehicle is monitored through the vehicle-mounted camera to provide more comprehensive visual guarantee for the vehicle owner. Meanwhile, the automobile sentry mode can provide a real-time alarm function. If the sentry mode detects that the vehicle is illegally intruded or an abnormal condition occurs, it will immediately issue an alarm signal informing the vehicle owner and related safety authorities.

Fig. 2 is a schematic view of a scenario provided in an embodiment of the present application.

For example, as shown in fig. 2, when the user remotely turns on the sentinel mode through the mobile application, the left and right looking around cameras are installed in the left and right rear view mirrors, so that the left and right rear view mirrors need to be unfolded first to collect the left and right environmental video data.

When the vehicle 20 is parked on the left side of the vehicle 10 and the distance from the vehicle is smaller than a certain value, if the left rearview mirror is controlled to be unfolded to cause damage to the vehicle rearview mirror and the rearview mirror of the vehicle 20, therefore, in order to avoid the above situation, when the fact that the rearview mirror of the vehicle is not unfolded (for example, when the side is not provided with an obstacle) is detected in the sentinel mode, the rearview mirror is controlled to be unfolded and the camera is started to acquire video data; however, in the above-described manner, if there is a deployment obstacle in the mirror of the vehicle (for example, there is an obstacle beside the vehicle, or the mirror malfunctions, etc.), the complete environmental video data cannot be obtained, and the video data is lost, so that the sentry mode cannot be operated normally.

In view of the above problems, embodiments of the present application provide a method, an apparatus, and a vehicle for monitoring a vehicle, where the method can determine a mode of acquiring target video data to acquire the target video data when a deployment obstacle exists in a target rearview mirror of a vehicle, so that the vehicle can normally operate in a sentinel mode.

Before describing the method for monitoring the vehicle provided by the embodiment of the application, a system architecture diagram of the scheme is described.

Fig. 3 is a system architecture diagram according to an embodiment of the present application.

Illustratively, as shown in FIG. 3, the system 300 includes the vehicle 10, the user terminal 30, and the external communication facility 40.

The user terminal 30 may remotely send the whistle mode setting information (e.g., an on/off command) to a remote service Provider (TELEMATICS SERVICE Provider, TSP) 11 of the vehicle 10 through wireless network communication or bluetooth communication, etc., and receive the whistle mode related information forwarded by the TSP11, such as an operating state of the whistle mode, alarm information, alarm video, etc.

The vehicle 10 includes a TSP11, a T-BOX12, a body controller (Central Electronic Module, CEM) 13, a body controller 14, an intelligent driving controller 15, a camera 16, and a body management controller 17.

After receiving the sentinel mode setting information, the TSP11 sends the setting information to the T-BOX12; or receives the sentinel pattern related information transmitted from the T-BOX12 and transmits it to the user terminal 30.

The T-BOX12 is respectively connected with the vehicle body controllers 13 and TSP11, can receive the sentry mode related information sent by the vehicle body controller 13 and transmit the sentry mode related information to the TSP11, and can also receive the sentry mode setting information sent by the TSP11 and send the sentry mode setting information to the vehicle body controller 13;

T-BOX12 may also communicate with external communication facility 40 via V2X for accessing and obtaining information from external communication facility 40 and for transmitting information from the vehicle to external communication facility 40. It should be understood that the external communication facility 40 may be other vehicles, other communication devices (e.g., cameras), etc.

The CEM13 may receive the sentinel mode setting information through a Gateway (Gateway, GW), and transmit a wake-up signal to the vehicle controller 14, the intelligent driving controller 15, and the whole vehicle body management controller 17 according to the received sentinel mode setting information, so that the vehicle controller 14, the intelligent driving controller 15, and the whole vehicle body management controller 17 enter an operating state, and perform related functions of the sentinel mode of the vehicle.

After receiving the start instruction of the sentry mode, the intelligent driving controller 15 controls the looking-around camera 16 to start, and video data collected by the looking-around camera 16 is received through the LVDS interface to carry out algorithm monitoring. The intelligent driving controller 15 includes a panoramic image processing module, which may be configured to perform image processing on the received video data to obtain 360 ° panoramic image data of the surrounding of the vehicle and the vehicle itself, and further send the obtained 360 ° panoramic image data to the vehicle controller 14.

The looking-around camera 16 may include 4 looking-around cameras, namely, a front looking-around camera, a rear looking-around camera, a left looking-around camera and a right looking-around camera, for collecting environmental video data around the vehicle; the number of the looking-around cameras and the positions of the cameras mounted on the vehicle are not particularly limited in the embodiment of the application.

The vehicle controller 14 may store the single view and the composite view for subsequent responsibility, and may send alert information to the CEM13 when detecting that there is an abnormal situation in the single view, so that the CEM13 may send alert information to the user terminal 30 according to the alert information, feedback the abnormal situation of the vehicle to the user, or control the vehicle body management controller 17 to send an alert prompt (e.g. whistle) according to the alert information.

The vehicle body management controller 17 may be configured to control the vehicle to send out warning information to pedestrians around the vehicle, for example, to control the vehicle to whistle, and/or to control the lamp to flash, and/or to control the voice module in the vehicle to send out voice warning information (for example, please get away from the vehicle), and/or to project warning information on the windows of the vehicle (for example, the vehicle is in a monitoring state, and does not damage the vehicle).

The method for monitoring a vehicle according to the embodiment of the present application will be described in detail with reference to fig. 4 to 7.

Fig. 4 is a schematic flow chart of a method of monitoring a vehicle provided by an embodiment of the application. The subject of execution of the method may be a computing device, such as an intelligent drive controller, having a computing processing function in the vehicle 10 of fig. 1-3.

Illustratively, as shown in FIG. 4, the method 400 includes S410 through S440, and S410 through S440 are described in detail below.

S410, if the start of the sentry mode of the vehicle is detected and the unfolding obstacle of the target rearview mirror of the vehicle exists, determining whether the target vehicle exists in the direction of the target rearview mirror.

Wherein the target rearview mirror may be a left rearview mirror and/or a right rearview mirror in the vehicle. The target rearview mirror includes a target camera, for example, when the target rearview mirror is a left rearview mirror of a vehicle, the target rearview mirror includes a left looking around camera.

Alternatively, the presence of a deployment obstacle for the target rearview mirror may include the following two cases: 1. the target rearview mirror does not have the expansion space 2 and fails.

For example, the vehicle uses the sensor to identify the surrounding environment information of the parking space in the parking stage, and judges whether the possibility of parking the vehicle exists on the left side and the right side of the vehicle; if the left side rearview mirror of the vehicle is provided with a unfolding space or not when the user remotely opens the sentinel mode, the side ultrasonic radar and the side view module (for example, the side view camera) are used for judging whether the left side rearview mirror of the vehicle is provided with the unfolding space, and if the left side is detected to be provided with an obstacle, and the distance between the obstacle (for example, the rearview mirror of the left side vehicle) and the vehicle is smaller than a preset distance (for example, 20 cm), the left side rearview mirror of the vehicle is determined to be provided with the unfolding obstacle (for example, the left side rearview mirror of the vehicle is not provided with the unfolding space).

Further, whether other vehicles exist in the direction of the left rearview mirror is determined, and if so, the left vehicle is determined to be the target vehicle.

S420, if the target rearview mirror exists in the direction of the target rearview mirror, acquiring vehicle state information of the target vehicle.

Wherein the target vehicle may be understood as the external communication facility 40 shown in fig. 3. The vehicle state information includes whether a first camera in the target vehicle is turned on and whether a first rear view mirror of the target vehicle has a folding function, and optionally, whether the first rear view mirror has a folding function may be determined according to rear view mirror configuration information of the target vehicle.

The first rearview mirror is a rearview mirror close to a vehicle in a target vehicle, and the first camera is a camera in the first rearview mirror; taking the target rearview mirror as rearview mirror a in fig. 2 as an example, the first rearview mirror is rearview mirror b in vehicle 20, and the first camera is a camera in rearview mirror b. Alternatively, the first camera and the target camera may be a look-around camera.

Alternatively, the Vehicle status information of the target Vehicle may be obtained through a Vehicle-to-Vehicle communication manner (e.g., vehicle-to-evaluation (V2X)).

For example, if a target vehicle exists in the direction of the target rearview mirror, the intelligent driving controller sends an external vehicle communication request to the internet of vehicles controller T-BOX, the T-BOX accesses vehicle state information of the target vehicle by using the V2X link, and judges whether a first camera in the target vehicle is opened or not and whether the first rearview mirror has a folding function or not according to the vehicle state information.

S430, determining the acquisition mode of the target video data around the vehicle according to the vehicle state information.

The target video data may be all-around video data, where the shooting range of the target video data and the shooting range of the target camera have overlapping areas, that is, the target video data may be either complete all-around video data shot by the target camera or partial all-around video data having the same shooting range as the target camera.

Next, the target video data will be explained with reference to fig. 5.

Fig. 5 is a schematic view of another scenario provided in an embodiment of the present application.

As shown in fig. 5, the vehicle is a vehicle 10, the target vehicle is a vehicle 20, and the range of the target camera in the rearview mirror a in the vehicle is a sector area indicated by L1; the range shot by the first camera in the rearview mirror b of the target vehicle is a sector area pointed by L2; the shooting ranges of the first camera and the target camera are provided with an overlapping area M; the target video data may be the complete video data shot by the target camera (i.e., the video data of the L1 area), or may be the video data of the first camera shot with the overlapping area with the target camera (i.e., the video data of the M area).

The acquisition mode comprises the step of acquiring target video data through a first camera or acquiring the target video data through a target camera. It should be appreciated that the target video data acquired by the first camera is part of the video data that the target camera is able to acquire; the target video data acquired by the target camera is complete video data which can be acquired by the target camera.

Next, a case where the target video data is acquired by the first camera and a case where the target environmental video data is acquired by the target camera will be described taking as an example a case where the target rearview mirror does not have a deployment space because the target rearview mirror has a deployment obstacle.

First, a case where target video data is acquired by a first camera will be described.

Example 1: if the first camera is detected to be started, the acquisition mode is determined to be that the target video data are acquired through the first camera.

Taking the target rearview mirror as the rearview mirror a in fig. 2, taking the target vehicle as the vehicle 20 in fig. 2 as an example, if the first camera is detected to be turned on, it is described that the first camera is collecting the environmental video data on the right side of the vehicle 20, and since the rearview mirror on the left side of the vehicle cannot be unfolded and the shooting range of the first camera has an overlapping area with the shooting range of the target camera, the video data on the left side of the vehicle can be partially obtained by acquiring the target video data by the first camera.

Example 2: the first rearview mirror is in an unfolding state and does not have a folding function, and the acquisition mode is determined to be that target video data are acquired through the first camera.

The first rearview mirror is in an unfolding state and does not have a folding function, so that the first rearview mirror cannot be automatically controlled to fold, the first rearview mirror cannot be unfolded, the target rearview mirror of the vehicle cannot be unfolded when the first rearview mirror cannot be folded, the vehicle is monitored for obtaining video data of the left side of the vehicle, the target video data are obtained through the first camera, if the first camera is not started, the first camera can be firstly requested to be started through a V2X link, and then the video data collected by the first camera are obtained.

It should be appreciated that the first rear view mirror is in an unfolded state and does not have a folding function there are two cases: 1. the first camera is opened, and the first rearview mirror is in an unfolded state and does not have a folding function; 2. the first camera is not opened, and the first rearview mirror is in an unfolded state and does not have a folding function; in both cases, the target video data may be acquired by the first camera.

Next, a case where target video data is acquired by a target camera will be described.

Example 3: if the first rearview mirror has a folding function, determining that the acquisition mode is to acquire target video data through the target camera.

The first rearview mirror has the following two conditions: 1. the first camera is opened, and the first rearview mirror has a folding function; 2. the first camera is not opened, and the first rearview mirror has a folding function.

Aiming at the situation 1, the first camera is started to indicate that the target vehicle is collecting video data in the direction of the first camera at the moment, and the first rearview mirror has a folding function and supports to control folding or unfolding of the first rearview mirror; in order to ensure that the target video data acquired by the vehicle is more complete, the first rearview mirror can be controlled to fold, and the target video data is acquired through a target camera of the vehicle; further, the target video data acquired from the vehicle is transmitted to the target vehicle in real time.

For the above case 2, when the first camera is not turned on to indicate that the target vehicle does not acquire video data, the first rearview mirror may be controlled to fold, so that the target camera of the own vehicle has an unfolding space, and the target video data is acquired through the target camera of the own vehicle.

In the technical scheme, the first camera is detected to be started, and the target vehicle is indicated to acquire video data in the direction of the first camera; the first rearview mirror is in an unfolding state and does not have a folding function, so that the target rearview mirror of the bicycle cannot be unfolded by controlling the folding of the first rearview mirror; because the video data collected by the first camera and the video data collected by the target camera of the own vehicle have an overlapping area, when the target camera of the own vehicle cannot collect the target video data, the first camera can acquire part of the video data which can be collected by the target camera, so that the video data of the own vehicle can be supplemented; ensuring that the self-vehicle can normally operate the sentry mode. If the first rearview mirror has a folding function, the description can be folded by controlling the first rearview mirror, so that the rearview mirror of the self-vehicle can be unfolded smoothly, video data required by the self-vehicle can be acquired in time through a target camera of the self-vehicle, and the self-vehicle can be ensured to run in a sentinel mode.

Optionally, whether the first camera is turned on may be confirmed by a sentinel mode status of the target vehicle, e.g., if the target vehicle turns on the sentinel mode, the first camera may be considered to be turned on; if the target vehicle does not turn on the sentinel mode, the first camera may be considered to be not turned on.

Therefore, in some embodiments, if the first camera is detected to be turned on, the process of determining that the acquisition mode is to acquire the target video data through the first camera may be: if the target vehicle is detected to start the sentinel mode, determining that the acquisition mode is to acquire target video data through the first camera.

Illustratively, the target vehicle turns on the sentinel mode, indicating that the target vehicle is collecting ambient video data around, so that the target video data may be obtained by the first camera of the target vehicle.

Similarly, in some embodiments, the process of determining that the first rearview mirror is in an unfolded state and does not have a folding function and the obtaining mode is to obtain the target video data through the first camera may be: if the target vehicle is detected not to start the sentinel mode and the first rearview mirror is in an unfolded state and does not have a folding function, the acquisition mode is determined to be that the target video data are acquired through the first camera.

For example, if the target vehicle does not start the sentinel mode, it is indicated that the first camera is not started at this time, but the first rearview mirror is in the unfolded state and does not have the folding function, so that the target rearview mirror of the own vehicle does not have the unfolding space, and therefore, the first camera can be requested to work to acquire the target video data.

In the above technical solution, the presence of the expansion obstacle of the target rearview mirror includes that the target rearview mirror does not have an expansion space, which means that the expansion obstacle of the target rearview mirror of the own vehicle is not caused by a failure of the target rearview mirror, but the expansion of the target rearview mirror of the own vehicle is affected by the rearview mirror of the own vehicle; if the target vehicle is detected to start a sentinel mode, the target vehicle is indicated to acquire surrounding environment video data, and the video data of the direction in which the first camera is positioned are also included; if the target vehicle is detected to be in an unopened sentinel mode and the first rearview mirror is in an unfolded state and does not have a folding function, the first camera of the target vehicle is not operated, environmental video data cannot be collected, and the target rearview mirror of the vehicle cannot be unfolded by controlling the folding of the first rearview mirror; thus, the first and second substrates are bonded together,

Acquiring target video data through a first camera; the own vehicle can request the target vehicle to start a first camera, and the first camera collects video data; because the video data collected by the first camera and the video data collected by the target camera in the vehicle have an overlapping area; therefore, the video data of the vehicle can be supplemented by the video data collected by the first camera; ensuring that the self-vehicle can normally operate the sentry mode.

Similarly, the first rearview mirror has a folding function and is divided into the following two cases: 1. the target vehicle starts a sentinel mode, and the first rearview mirror has a folding function; 2. the target vehicle does not open the sentinel mode, and the first rearview mirror has a folding function.

In case 1, if the first rearview mirror has a folding function, the determining that the obtaining mode is to obtain the target video data through the target camera may be: if the target vehicle does not start the sentinel mode and the first rearview mirror has a folding function, determining that the acquisition mode is to acquire target video data through the target camera.

It will be appreciated that since the target vehicle does not turn on the sentinel mode, it can be considered that the target vehicle does not need video data, preferably obtained by the target camera of the own vehicle.

In the above case 2, if the first rearview mirror has a folding function, the determining that the obtaining mode is to obtain the target video data through the target camera may be: if the target vehicle starts a sentinel mode and the first rearview mirror has a folding function, the acquisition mode is determined to be that target video data are acquired through a target camera.

It should be appreciated that the video data collected by the camera of the host vehicle is more comprehensive than the other vehicle, so that when the target vehicle starts the sentinel mode, the first rearview mirror can be controlled to fold to obtain the target video data through the target camera of the host vehicle, but because the target vehicle also needs the video data on the first rearview mirror side, the host vehicle can send the collected target video data to the target vehicle.

The above embodiment describes that the target video data can be obtained through the first camera when the self-rearview mirror has a deployment obstacle, and it should be understood that when the self-rearview mirror has no deployment obstacle and the target vehicle has a target direction, if the target vehicle is detected to be in a sentinel mode, the camera in the target direction in the self-rearview mirror can be controlled to be closed, and the environmental video data collected by the target vehicle can be obtained.

For example, a configuration file of a rule for sharing data on the same side may be stored in the own vehicle and the target vehicle, in the rule, a vehicle in which a sentinel mode is first started in the own vehicle and the other vehicle may be set as a vehicle sharing video data, taking fig. 2 as an example, if the vehicle 20 first stops in a vertical or diagonal parking space and starts the sentinel mode, when the vehicle 10 stops in the parking space again, the vehicle 10 may control the camera of the rearview mirror a to be closed, and environmental video data collected by the camera in the rearview mirror b in the vehicle 20 is obtained.

In the technical scheme, when the range acquired by the cameras of the own vehicle and the other vehicle has an overlapping area and the other vehicle has started the sentinel mode, the power consumption of the own vehicle can be reduced by acquiring the environment video data acquired by the cameras of the other vehicle, and the energy conservation is realized.

S440, acquiring target video data according to the acquisition mode so as to enable the vehicle to run in a sentinel mode.

After determining the acquisition mode in S430, the target video data is acquired according to the acquisition mode.

Specifically, the implementation procedure of S440 may be: if the first camera is detected to be started, first request information is sent to a target vehicle so that the vehicle can acquire target video data; if the first rearview mirror is in an unfolding state and does not have a folding function, and the first camera is detected to be closed, first request information and second request information are sent to a target vehicle so that the vehicle can acquire target video data; if the first rearview mirror has the folding function, third request information is sent to the target vehicle and the target camera is controlled to be opened, so that the vehicle can acquire target video data.

The first request information is used for requesting to acquire target video data acquired by the first camera; the second request information is used for requesting the first camera to be started; the third request information is used for requesting the first rearview mirror to fold.

If the first camera is detected to be opened, sending first request information to the target vehicle through the V2X link to request for obtaining target video data collected by the first camera; if the first rearview mirror is in an unfolded state and does not have a folding function, and the first camera is detected to be closed; sending second request information to the target vehicle through the V2X link to request the first camera to be started, and then sending the first request information to the target vehicle to request the target vehicle to acquire target video data acquired by the first camera; if the first rearview mirror has a folding function, sending third request information to the target vehicle through the V2X link to request the first rearview mirror to be folded, and controlling the target camera to be opened after the first rearview mirror is folded.

It should be appreciated that controlling the target camera to be turned on may be divided into two steps, the first step: firstly, controlling the expansion of a target rearview mirror; and a second step of: and controlling the starting of the target camera.

Further, after the vehicle acquires the target video data, the target video data and the video data acquired by other looking-around cameras in the vehicle are used as monitoring data in a sentry mode of the vehicle together, so that the vehicle is monitored.

Fig. 6 is a schematic flow chart of another method of monitoring a vehicle according to an embodiment of the present application.

Illustratively, as shown in FIG. 6, the method 600 includes S610 through S640, and S610 through S640 are described in detail below.

And S610, if the start of the sentry mode of the vehicle is detected and the unfolding obstacle exists between the first target rearview mirror and the second target rearview mirror of the vehicle, determining whether the target vehicle exists in the direction of the first target rearview mirror and the second target rearview mirror.

It should be appreciated that there are deployment barriers for the first target rearview mirror and the second target rearview mirror, which means that the rearview mirrors on both sides of the vehicle cannot be normally deployed, and there are various situations at this time: 1. the two rearview mirrors have no unfolding space; 2. the two rearview mirrors have faults; 3. one of the mirrors has no extended space and the other mirror fails.

Further, judging whether a target vehicle exists in the direction of the first target rearview mirror and the direction of the second target rearview mirror through the side ultrasonic radar and the side view module.

620, If the first target rearview mirror is located in the direction of the first target vehicle and the second target rearview mirror is located in the direction of the second target vehicle, acquiring the vehicle state information of the first target vehicle and the vehicle state information of the second target vehicle, and whether the first target vehicle and the second target vehicle are in a flameout state.

The vehicle in the direction of the first rearview mirror is a first target vehicle; the vehicle in the direction of the second rearview mirror is the second target vehicle.

For example, when other vehicles are parked on both sides of the own vehicle, vehicle state information of the vehicles on both sides is obtained through the V2X link, and whether the first cameras of the vehicles on both sides are turned on or not and whether the first cameras are in a flameout state or not is judged.

S630, if the first cameras in the first target vehicle and the second target vehicle are detected to be started and the first target vehicle and the second target vehicle are in a flameout state, determining that the target video data is acquired through the first camera, controlling the whistle mode of the vehicle to be closed and controlling the target radar in the vehicle to be started.

It should be understood that the first camera is a type of camera, i.e. a camera in the first target vehicle close to the own vehicle and a camera in the second target vehicle close to the own vehicle.

Wherein the target radar comprises a front radar and/or a rear radar.

For example, if the first cameras of the first target vehicle and the second target vehicle are both on (e.g., both on sentinel modes), the target video data may be acquired by the first camera; the sentry mode of the control vehicle is closed, namely all the looking-around cameras on the self-vehicle are closed, but as the front and the rear of the vehicle cannot be monitored, the monitoring can be performed by starting a radar, and the radar can be a front angle radar and a rear angle radar shown in fig. 2.

Alternatively, the front radar and/or the rear radar may be turned on depending on the environment of the vehicle, for example, only the front radar may be controlled to be turned on when a narrow and closed space is behind the vehicle.

And S640, acquiring target video data according to the acquisition mode.

For example, request information is sent to the first target vehicle and the second target vehicle through the V2X link, the request is made to acquire target video data acquired by the first camera, and the whistle mode of the own vehicle is controlled to be turned off and the front radar and/or the rear radar are controlled to be turned on.

In the above technical solution, if there is a first target vehicle in the direction of the first target rearview mirror and a second target vehicle in the direction of the second target rearview mirror, it is indicated that other vehicles are parked on both sides of the vehicle, if it is detected that the first cameras in the first target vehicle and the second target vehicle are on, and the first target vehicle and the second target vehicle are in a flameout state, it is indicated that the vehicles on both sides will not drive away temporarily and are collecting video data of partial areas on both sides of the vehicle, at this time, the first cameras are used to obtain target video data, control the whistle mode of the vehicle to be closed, and the target video data can be obtained by the first cameras of the vehicles on both sides of the vehicle, so as to realize energy saving of the vehicle; and controlling front radar and/or rear radar in the vehicle to be turned on, wherein the power consumption of the radar is lower than that of the camera, so that the power consumption of the vehicle can be reduced by replacing the front camera or the rear camera with the front radar and/or the rear radar under the condition that part of environment video data on two sides of the vehicle can be acquired through the first camera.

And S650, if the target radar detects that a moving object exists in the preset range of the vehicle, controlling a camera in the direction of the target radar to be started so as to acquire video data in the direction of the target radar.

The preset range may be set by a person skilled in the art, for example, a range of 2 meters centered on the vehicle head, which is not particularly limited in the embodiment of the present application.

For example, if the front radar detects that a moving object (e.g., a person) exists in a preset range of the vehicle, the front looking-around camera is controlled to be turned on, and video data in front of the vehicle is acquired through the front looking-around camera.

In some embodiments, when the vehicle is parked in a vertical or inclined train position and other vehicles are present on both sides and a sentry mode is started, at this time, the sentry mode of the own vehicle can be controlled to be closed, and environmental video data collected by the vehicles on both sides is obtained, so that energy saving of the own vehicle is realized; in order to ensure safety, only the front radar and/or the rear radar are controlled to be turned on, and when a moving object is detected to exist in a preset range, the front looking-around camera and/or the rear looking-around camera are controlled to be turned on.

Fig. 7 is a schematic flow chart of another method of monitoring a vehicle according to an embodiment of the present application.

Illustratively, as shown in FIG. 7, the method 700 includes S710 through S780, with S710 through S780 being described in detail below.

S710, if the start of the sentry mode of the vehicle is detected and the unfolding obstacle of the target rearview mirror of the vehicle exists, determining whether the target vehicle exists in the direction of the target rearview mirror.

For example, the implementation of S710 may refer to the related description of the S410 procedure in the above-mentioned exemplary embodiment, which is not repeated here.

S720, if the target rearview mirror exists in the direction of the target rearview mirror, acquiring the vehicle state information of the target vehicle.

For example, the implementation of S720 may refer to the related description of the process of S420 in the above-mentioned example embodiment, which is not described herein.

S730, judging whether the target vehicle starts a sentinel mode according to the vehicle state information, if so, executing S740; if not, execution proceeds to S760.

For example, if it is determined that the target vehicle starts a sentinel mode according to the vehicle state information, acquiring target video data acquired by the first camera; if the target vehicle is determined not to start the sentinel mode, judging whether the first camera has a folding function or not according to the vehicle state information.

S740, acquiring target video data acquired by the first camera.

For example, the implementation of S740 may be referred to the related description of the S440 procedure in the above-mentioned exemplary embodiment, which is not repeated here.

And S750, when the target vehicle is detected to be away, controlling the target rearview mirror of the own vehicle to be unfolded so as to enable the own vehicle to acquire target video data through the target camera.

For example, if a sensor in a vehicle detects that a target vehicle leaves a parking space, target video data of the target vehicle cannot be acquired, at this time, a target rearview mirror of a vehicle is controlled to be unfolded, and a target camera is started to acquire the target video data through the target camera so as to ensure the integrity of the video data of the vehicle.

S760, judging whether the first camera has a folding function according to the vehicle state information, if so, executing S770.

For example, if it is determined that the first camera has a folding function according to the vehicle state information, the first rearview mirror is controlled to be folded and then the target rearview mirror is controlled to be unfolded, and target video data is acquired through the target camera.

S770, controlling the first rearview mirror to be folded, controlling the target rearview mirror to be unfolded, and acquiring target video data through the target camera.

For example, the implementation of S770 may refer to the related description of the S440 process in the above-mentioned exemplary embodiment, which is not repeated here.

And S780, when an unlocking instruction of the target vehicle is detected, controlling the folding of the target rearview mirror, and acquiring target video data through the first camera.

For example, after the target vehicle receives the unlocking instruction, the own vehicle and the target vehicle communicate in real time through V2X, so that the unlocking instruction of the target vehicle can be detected, and when the target vehicle receives the unlocking instruction, the rearview mirror needs to be opened, so that the target rearview mirror of the own vehicle is controlled to be folded, and the first rearview mirror has an unfolding space; when the first rearview mirror is unfolded, the first camera also works, and at the moment, target video data can be obtained through the first camera; when the target vehicle is detected to be away, the target rearview mirror of the vehicle is controlled to be unfolded, and target video data are collected through the target camera.

The method for monitoring a vehicle according to the embodiment of the present application is described in detail above with reference to fig. 1 to 7; an embodiment of the device of the present application will be described in detail with reference to fig. 8 and 9. It should be understood that the apparatus in the embodiments of the present application may perform the methods of the foregoing embodiments of the present application, that is, specific working procedures of the following various products may refer to corresponding procedures in the foregoing method embodiments.

Fig. 8 is a schematic structural diagram of a device for monitoring a vehicle according to an embodiment of the present application.

Illustratively, as shown in FIG. 8, the apparatus 800 includes:

A first determining module 810, configured to determine, if it is detected that the vehicle is in a sentinel mode and there is a deployment obstacle in a target rearview mirror of the vehicle, whether there is a target vehicle in a direction in which the target rearview mirror is located, where the target rearview mirror includes a target camera;

A first obtaining module 820, configured to obtain vehicle state information of a target vehicle if the target vehicle exists in a direction in which the target rearview mirror is located, where the vehicle state information includes whether a first camera in the target vehicle is turned on and whether the first rearview mirror of the target vehicle has a folding function; the first rearview mirror is a rearview mirror close to a vehicle and comprises a first camera;

A second determining module 830, configured to determine, according to the vehicle state information, an acquisition mode of target video data around the vehicle; the acquisition mode comprises the steps of acquiring target video data through a first camera or acquiring the target video data through a target camera;

the second obtaining module 840 is configured to obtain the target video data according to the obtaining mode, so that the vehicle runs in the sentinel mode.

In some embodiments, the presence of the deployment obstacle in the target rearview mirror includes that the target rearview mirror does not have a deployment space, and the second determining module includes a first determining unit, configured to determine, if it is detected that the first camera is opened, or if the first rearview mirror is in a deployed state and does not have a folding function, that the acquiring mode is to acquire the target video data through the first camera; and the second determining unit is used for determining that the acquisition mode is to acquire the target video data through the target camera if the first rearview mirror has the folding function.

In some embodiments, the first determining unit is specifically configured to determine, if the target vehicle is detected to be in a sentinel mode, or if the target vehicle is detected to be in a sentinel mode not opened and the first rearview mirror is in an unfolded state and does not have a folding function, that the acquiring mode is to acquire the target video data through the first camera; the first camera is started in a sentinel mode of the target vehicle.

In some embodiments, if the target vehicle does not start the sentinel mode and the first rearview mirror has a folding function, the second determining unit determines that the acquiring mode is to acquire the target video data through the target camera; the first camera is closed when the target vehicle is not in the sentinel mode.

In some embodiments, the second obtaining module is specifically configured to send, if the first camera is detected to be turned on, first request information to the target vehicle so that the vehicle obtains the target video data;

In some embodiments, if the target rearview mirror includes a first target rearview mirror and a second target rearview mirror, the first obtaining module is configured to obtain vehicle state information of the first target vehicle and vehicle state information of the second target vehicle, and whether the first target vehicle and the second target vehicle are in a flameout state if there is a first target vehicle in a direction in which the first target rearview mirror is located and a second target vehicle in a direction in which the second target rearview mirror is located;

In some embodiments, the device further includes a first control module, configured to control, if a moving object exists in a preset range of the vehicle detected by the target radar, the camera in the direction of the target radar to be turned on, so as to obtain video data in the direction of the target radar.

In some embodiments, the apparatus further comprises: the second control module is used for controlling the folding of the target rearview mirror when the unlocking instruction of the target vehicle is detected if the acquisition mode is that the target video data is acquired through the target camera, so that the vehicle acquires the target video data through the first camera; if the acquisition mode is that the target video data are acquired through the first camera, when the target vehicle is detected to be away, the target rearview mirror is controlled to be unfolded, so that the vehicle can acquire the target video data through the target camera.

Illustratively, as shown in FIG. 9, the vehicle 900 includes: memory 910 and processor 920, wherein, executable program code 911 is stored in memory 910, processor 920 is used to call and execute the executable program code 911 to perform a method of monitoring a vehicle.

In addition, the embodiment of the application also protects a device, which can comprise a memory and a processor, wherein executable program codes are stored in the memory, and the processor is used for calling and executing the executable program codes to execute the method for monitoring the vehicle provided by the embodiment of the application.

In this embodiment, the functional modules of the apparatus may be divided according to the above method example, for example, each functional module may be corresponding to one processing module, or two or more functions may be integrated into one processing module, where the integrated modules may be implemented in a hardware form. It should be noted that, in this embodiment, the division of the modules is schematic, only one logic function is divided, and another division manner may be implemented in actual implementation.

In the case of dividing each functional module by corresponding each function, the apparatus may further include a first determination module, a first acquisition module, a second determination module, a second acquisition module, and the like. It should be noted that, all relevant contents of each step related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein.

It should be appreciated that the apparatus provided in this embodiment is used to perform the above-described method of monitoring a vehicle, and thus the same effects as those of the above-described implementation method can be achieved.

In case of an integrated unit, the apparatus may comprise a processing module, a memory module. Wherein, when the device is applied to a vehicle, the processing module can be used for controlling and managing the action of the vehicle. The memory module may be used to support the vehicle in executing mutual program code, etc.

Wherein a processing module may be a processor or controller that may implement or execute the various illustrative logical blocks, modules, and circuits described in connection with the present disclosure. A processor may also be a combination of computing functions, including for example one or more microprocessors, digital Signal Processing (DSP) and microprocessor combinations, etc., and a memory module may be a memory.

In addition, the device provided by the embodiment of the application can be a chip, a component or a module, wherein the chip can comprise a processor and a memory which are connected; the memory is used for storing instructions, and when the processor calls and executes the instructions, the chip can be caused to execute the method for monitoring the vehicle provided by the embodiment.

The present embodiment also provides a computer-readable storage medium having stored therein computer program code which, when run on a computer, causes the computer to perform the above-described related method steps to implement a method of monitoring a vehicle as provided by the above-described embodiments.

The present embodiment also provides a computer program product which, when run on a computer, causes the computer to perform the above-described related steps to implement a method of monitoring a vehicle provided by the above-described embodiments.

The apparatus, the computer readable storage medium, the computer program product, or the chip provided in this embodiment are used to execute the corresponding method provided above, and therefore, the advantages achieved by the apparatus, the computer readable storage medium, the computer program product, or the chip can refer to the advantages of the corresponding method provided above, which are not described herein.

It will be appreciated by those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.

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

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A method of monitoring a vehicle, comprising:

if a whistle mode of the vehicle is detected to be started and a unfolding obstacle exists on a target rearview mirror of the vehicle, determining whether the target vehicle exists in the direction of the target rearview mirror, wherein the target rearview mirror comprises a target camera;

if the target vehicle exists in the direction of the target rearview mirror, acquiring vehicle state information of the target vehicle; the vehicle state information comprises whether a first camera in the target vehicle is started or not and whether a first rearview mirror of the target vehicle has a folding function or not; the first rearview mirror is a rearview mirror close to the vehicle, and comprises the first camera;

Determining an acquisition mode of target video data around the vehicle according to the vehicle state information; the acquisition mode comprises that the first camera acquires the target video data or the target camera acquires the target video data;

and acquiring the target video data according to the acquisition mode so that the vehicle runs the sentinel mode.

2. The method according to claim 1, wherein the presence of the deployment obstacle in the target rearview mirror includes the target rearview mirror not having a deployment space, and the determining, based on the vehicle state information, a manner of acquiring target video data around the vehicle includes:

if the first camera is detected to be opened, or if the first rearview mirror is in an unfolded state and does not have a folding function, determining that the acquisition mode is to acquire the target video data through the first camera;

And if the first rearview mirror has a folding function, determining that the acquisition mode is to acquire the target video data through the target camera.

3. The method according to claim 2, wherein determining that the acquisition mode is to acquire the target video data through the first camera if the first camera is detected to be turned on or if the first rearview mirror is in an unfolded state and has no folding function comprises:

If the target vehicle is detected to start a sentry mode, or if the target vehicle is detected to not start the sentry mode and the first rearview mirror is in an unfolding state and does not have a folding function, determining that the acquisition mode is to acquire the target video data through the first camera; and the first camera is started in a sentinel mode of the target vehicle.

4. The method according to claim 2, wherein if the first rearview mirror has a folding function, determining that the acquiring manner is to acquire the target video data through the target camera includes:

If the target vehicle does not start the sentinel mode and the first rearview mirror has a folding function, determining that the acquisition mode is to acquire the target video data through the target camera; and the first camera is closed when the target vehicle is not in a sentinel mode.

5. The method according to claim 3 or 4, wherein the acquiring the target video data according to the acquisition mode includes:

if the first camera is detected to be started, first request information is sent to the target vehicle so that the vehicle can acquire the target video data;

if the first rearview mirror is in an unfolded state and does not have a folding function, and the first camera is detected to be closed, the first request information and the second request information are sent to the target vehicle so that the vehicle can acquire the target video data;

If the first rearview mirror has a folding function, sending third request information to the target vehicle and controlling the target camera to be opened so as to enable the vehicle to acquire the target video data;

the first request information is used for requesting to acquire the target video data acquired by the first camera; the second request information is used for requesting the first camera to be started; the third request message is used for requesting the first rearview mirror to fold.

6. The method according to any one of claims 1 to 4, wherein if the target rearview mirror includes a first target rearview mirror and a second target rearview mirror, the acquiring vehicle state information of the target vehicle if the target vehicle exists in a direction in which the target rearview mirror exists includes:

If a first target vehicle exists in the direction of the first target rearview mirror and a second target vehicle exists in the direction of the second target rearview mirror, acquiring the vehicle state information of the first target vehicle and the vehicle state information of the second target vehicle, and whether the first target vehicle and the second target vehicle are in a flameout state or not;

The determining, according to the vehicle state information, an acquisition mode of target video data around the vehicle includes:

If the first cameras in the first target vehicle and the second target vehicle are detected to be started and the first target vehicle and the second target vehicle are in the flameout state, determining that the target video data are acquired through the first cameras, controlling the whistle modes of the vehicles to be closed, and controlling the target radar in the vehicles to be started.

7. The method as recited in claim 6, further comprising:

If the target radar detects that a moving object exists in the preset range of the vehicle, controlling a camera in the direction of the target radar to be started so as to acquire video data in the direction of the target radar.

8. The method according to any one of claims 1 to 4, further comprising:

if the acquiring mode is that the target video data are acquired through the target camera, when an unlocking instruction of the target vehicle is detected, controlling the target rearview mirror to fold so that the vehicle acquires the target video data through the first camera;

And if the acquisition mode is that the target video data are acquired through the first camera, when the target vehicle is detected to drive away, the target rearview mirror is controlled to be unfolded, so that the vehicle acquires the target video data through the target camera.

9. An apparatus for monitoring a vehicle, the apparatus comprising:

The first determining module is used for determining whether a target vehicle exists in the direction of the target rearview mirror if the start of a sentry mode of the vehicle is detected and the unfolding obstacle exists in the target rearview mirror of the vehicle, wherein the target rearview mirror comprises a target camera;

The first acquisition module is used for acquiring vehicle state information of the target vehicle if the target vehicle exists in the direction of the target rearview mirror; the vehicle state information comprises whether a first camera in the target vehicle is started or not and whether a first rearview mirror of the target vehicle has a folding function or not; the first rearview mirror is a rearview mirror close to the vehicle, and comprises the first camera;

the second determining module is used for determining the acquisition mode of the target video data around the vehicle according to the vehicle state information; the acquisition mode comprises that the first camera acquires the target video data or the target camera acquires the target video data;

And the second acquisition module is used for acquiring the target video data according to the acquisition mode so as to enable the vehicle to run the sentinel mode.

10. A vehicle, characterized in that the vehicle comprises:

A memory for storing executable program code;

A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method of any one of claims 1 to 8.