技术领域Technical Field
本申请涉及车辆领域，尤其涉及一种车辆控制方法、装置、车辆和存储介质。The present application relates to the field of vehicles, and in particular to a vehicle control method, device, vehicle and storage medium.
背景技术Background Art
车辆是人们日常出行所需使用的交通工具。在人们使用车辆时，特别是长途出行，通常需要在车上饮用水、饮料等饮品补充体力。在汽车行驶的过程中，若车内人员饮用饮品，存在饮品倾洒的问题。Vehicles are the means of transportation that people need to use for daily travel. When people use vehicles, especially for long-distance travel, they usually need to drink water, beverages and other drinks in the car to replenish their energy. When the car is driving, if the people in the car drink the beverage, there is a problem of spilling the beverage.
针对此，目前解决的方案主要是通过将饮品倒入防止倾洒的器具进行饮用、或者饮用包装上增加了防倾洒工具的饮品，这两种方式其一需要将饮品倒入防止倾洒的器具中，其二需要购买使用防倾洒工具包装的饮品，才能在车辆行驶过程中饮用饮品时达到防倾洒的目的，防止饮品倾洒过程极为不便。In response to this, the current solutions are mainly to pour the beverage into a spill-proof container for drinking, or to drink the beverage with spill-proof tools added to the packaging. One of these two methods requires pouring the beverage into a spill-proof container, and the other requires purchasing beverages packaged with spill-proof tools to prevent spilling when drinking the beverage while the vehicle is moving. The process of preventing the beverage from spilling is extremely inconvenient.
基于此，如何更好地在车内人员饮用饮品时，控制车辆防止饮品倾洒成为了亟需解决的问题。Based on this, how to better control the vehicle to prevent drinks from spilling when people in the car are drinking has become an urgent problem that needs to be solved.
发明内容Summary of the invention
本申请提供了一种车辆控制方法、装置、车辆和存储介质，该方法通过防倾洒模式对应的车辆行驶控制参数控制车辆的行驶，能够避免车辆出现急转弯、急刹车等导致车身发生颠簸的情况，使车辆平稳行驶，从而在车辆内部人物存在饮用行为时，达到防止饮品倾洒的效果。The present application provides a vehicle control method, device, vehicle and storage medium. The method controls the driving of the vehicle through the vehicle driving control parameters corresponding to the anti-spill mode, which can avoid the vehicle body from being shaken due to sharp turns, sudden braking, etc., and make the vehicle run smoothly, thereby achieving the effect of preventing drinks from spilling when people inside the vehicle are drinking.
第一方面，提供了一种车辆控制方法，该方法包括：采集第一车辆内部图像，基于第一车辆内部图像确定车辆内部人物的第一行为信息；若第一行为信息为饮用行为信息，则获取车辆的行驶速度；基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数；基于车辆行驶控制参数控制车辆的行驶。In a first aspect, a vehicle control method is provided, the method comprising: acquiring a first vehicle interior image, and determining first behavior information of a person inside the vehicle based on the first vehicle interior image; if the first behavior information is drinking behavior information, obtaining a driving speed of the vehicle; controlling the vehicle to enter an anti-spill mode based on the vehicle driving speed, and obtaining vehicle driving control parameters corresponding to the anti-spill mode; and controlling the driving of the vehicle based on the vehicle driving control parameters.
在本申请实施例中，在根据采集到的第一车辆内部图像确定车辆内部人物的第一行为信息为饮用行为信息时，进而基于车辆的行驶速度控制车辆进入防倾洒模式，并控制车辆按照防倾洒模式对应的车辆行驶控制参数行驶，基于防倾洒模式对应的车辆行驶控制参数控制车辆的行驶，能够避免车辆出现急转弯、急刹车等导致车身发生颠簸的情况，使车辆平稳行驶，从而在车辆内部人物存在饮用行为时，达到防止饮品倾洒的效果。In an embodiment of the present application, when the first behavior information of the person inside the vehicle is determined to be drinking behavior information based on the collected first vehicle interior image, the vehicle is controlled to enter the anti-spill mode based on the vehicle's driving speed, and the vehicle is controlled to travel according to the vehicle driving control parameters corresponding to the anti-spill mode. Controlling the vehicle's travel based on the vehicle driving control parameters corresponding to the anti-spill mode can avoid situations in which the vehicle body is shaken due to sharp turns, sudden braking, etc., and allows the vehicle to travel smoothly, thereby achieving the effect of preventing drinks from spilling when the person inside the vehicle is drinking.
结合第一方面，在某些可能的实现方式中，基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数，包括：若车辆的行驶速度大于零，则控制车辆进入防倾洒模式；在防倾洒模式下获取车辆的行驶状态，获取行驶状态对应的车辆行驶控制参数。In combination with the first aspect, in some possible implementations, the vehicle is controlled to enter an anti-spill mode based on the vehicle's driving speed, and vehicle driving control parameters corresponding to the anti-spill mode are obtained, including: if the vehicle's driving speed is greater than zero, the vehicle is controlled to enter an anti-spill mode; the vehicle's driving state is obtained in the anti-spill mode, and the vehicle driving control parameters corresponding to the driving state are obtained.
结合第一方面，在某些可能的实现方式中，车辆行驶控制参数为预设加速度参数，在防倾洒模式下获取车辆的行驶状态，获取行驶状态对应的车辆行驶控制参数，包括：若在防倾洒模式下确定行驶速度大于预设行驶速度，则确定车辆的行驶状态为超速状态；获取超速状态对应的预设加速度参数；基于车辆行驶控制参数控制车辆的行驶，包括：基于预设加速度参数控制车辆降低行驶速度，直至行驶速度小于或等于预设行驶速度。In combination with the first aspect, in some possible implementations, the vehicle driving control parameter is a preset acceleration parameter, and the driving state of the vehicle is obtained in the anti-spill mode, and the vehicle driving control parameter corresponding to the driving state is obtained, including: if the driving speed is determined to be greater than the preset driving speed in the anti-spill mode, then the driving state of the vehicle is determined to be an overspeeding state; the preset acceleration parameter corresponding to the overspeeding state is obtained; and the driving of the vehicle is controlled based on the vehicle driving control parameter, including: controlling the vehicle to reduce the driving speed based on the preset acceleration parameter until the driving speed is less than or equal to the preset driving speed.
采用上述方案，在车辆的行驶速度大于零的情况下直接控制车辆进入防倾洒模式，不需要人为去判断，实现了智能、准确地控制车辆进入防倾洒模式。在车辆进入防倾洒模式后，且车辆的行驶状态为超速状态下，控制车辆按照预设加速度降低车辆的行驶速度，直至小于或等于预设行驶速度，由于按照预设加速度降低车辆的行驶速度，避免了车辆的行驶速度急剧降低，从而导致车身晃动的问题，并且控制车辆的行驶速度降低在预设行驶速度以下，能够控制车辆维持平稳行驶。By adopting the above scheme, when the vehicle's driving speed is greater than zero, the vehicle is directly controlled to enter the anti-spill mode without manual judgment, thereby realizing intelligent and accurate control of the vehicle to enter the anti-spill mode. After the vehicle enters the anti-spill mode, and the vehicle's driving state is in the overspeed state, the vehicle is controlled to reduce the vehicle's driving speed according to the preset acceleration until it is less than or equal to the preset driving speed. Since the vehicle's driving speed is reduced according to the preset acceleration, the problem of the vehicle's driving speed being sharply reduced, thereby causing the body to shake, is avoided, and the vehicle's driving speed is controlled to be reduced below the preset driving speed, so that the vehicle can be controlled to maintain stable driving.
结合第一方面，在某些可能的实现方式中，车辆行驶控制参数为预设转向参数；在防倾洒模式下获取车辆的行驶状态，获取行驶状态对应的车辆行驶控制参数，包括：在防倾洒模式下，获取车辆行驶方向前方的障碍物信；基于障碍物信息确定车辆的行驶状态为避让障碍物状态，获取避让障碍物状态对应的预设转向参数；基于车辆行驶控制参数控制车辆的行驶，包括：基于预设转向参数控制车辆避让障碍物信息对应的障碍物。In combination with the first aspect, in some possible implementations, the vehicle driving control parameter is a preset steering parameter; the driving state of the vehicle is obtained in the anti-spill mode, and the vehicle driving control parameter corresponding to the driving state is obtained, including: in the anti-spill mode, obstacle information in front of the vehicle's driving direction is obtained; based on the obstacle information, the vehicle's driving state is determined to be an obstacle avoidance state, and the preset steering parameter corresponding to the obstacle avoidance state is obtained; the vehicle's driving is controlled based on the vehicle driving control parameter, including: controlling the vehicle to avoid obstacles corresponding to the obstacle information based on the preset steering parameter.
采用上述方案，在车辆的行驶状态为避让障碍物状态下，控制车辆按照预设转向参数避开障碍物，由于在避开障碍物时控制车辆按照预设转向参数行驶，避免了车辆的行驶方向快速变化，从而导致车身晃动的问题，由此能够控制车辆维持平稳行驶。By adopting the above scheme, when the vehicle is driving in an obstacle avoidance state, the vehicle is controlled to avoid the obstacle according to preset steering parameters. Since the vehicle is controlled to drive according to preset steering parameters when avoiding obstacles, the problem of rapid changes in the driving direction of the vehicle, which causes the body shaking, is avoided, thereby controlling the vehicle to maintain stable driving.
结合第一方面，在某些可能的实现方式中，车辆行驶控制参数为预设驻车制动参数；基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数，包括：若车辆的行驶速度等于零，则获取车辆的外部环境信息；若基于外部环境信息确定车辆存在碰撞风险，则控制车辆进入防倾洒模式；获取防倾洒模式对应的预设驻车制动参数；基于车辆行驶控制参数控制车辆的行驶，包括：基于预设驻车制动参数控制车辆的行驶速度为零。In combination with the first aspect, in some possible implementations, the vehicle driving control parameters are preset parking brake parameters; the vehicle is controlled to enter an anti-spill mode based on the vehicle's driving speed, and the vehicle driving control parameters corresponding to the anti-spill mode are obtained, including: if the vehicle's driving speed is equal to zero, the vehicle's external environment information is obtained; if it is determined based on the external environment information that the vehicle is at risk of collision, the vehicle is controlled to enter an anti-spill mode; the preset parking brake parameters corresponding to the anti-spill mode are obtained; the vehicle's driving is controlled based on the vehicle driving control parameters, including: controlling the vehicle's driving speed to zero based on the preset parking brake parameters.
采用上述方案，通过在车辆的行驶速度为零，且确定存在碰撞风险的情况下，准确控制车辆进入防倾洒模式，并且获取防倾洒模式对应的预设驻车制动参数，通过预设驻车制动参数能够使车辆保持静止，防止车辆在发生碰撞时滑动，维持车身稳定。By adopting the above scheme, when the vehicle's driving speed is zero and it is determined that there is a risk of collision, the vehicle is accurately controlled to enter the anti-spill mode, and the preset parking brake parameters corresponding to the anti-spill mode are obtained. The preset parking brake parameters can keep the vehicle stationary, prevent the vehicle from sliding in the event of a collision, and maintain the stability of the vehicle body.
结合第一方面，在某些可能的实现方式中，采集第一车辆内部图像之前，包括：建立与车辆内部人物对应的移动终端之间的连接；获取车辆内部人物在第一预设时长内使用移动终端的购买记录；若购买记录中存在饮品信息，则获取车辆的闭合组件的开关切换状态；若闭合组件的开关切换状态满足预设条件，则采集第二车辆内部图像；若基于第二车辆内部图像确定车辆存在新增饮品，则执行采集第一车辆内部图像的步骤。In combination with the first aspect, in some possible implementations, before collecting the first vehicle interior image, it includes: establishing a connection between mobile terminals corresponding to people inside the vehicle; obtaining purchase records of the people inside the vehicle using the mobile terminals within a first preset time period; if there is beverage information in the purchase record, obtaining the switch switching state of the vehicle's closing component; if the switch switching state of the closing component meets preset conditions, collecting a second vehicle interior image; if it is determined based on the second vehicle interior image that there are new beverages in the vehicle, executing the step of collecting the first vehicle interior image.
结合第一方面，在某些可能的实现方式中，若基于第二车辆内部图像确定车辆存在新增饮品，则执行采集第一车辆内部图像的步骤，包括：将第二车辆内部图像与预设图像进行比对；在确定第二车辆内部图像与预设图像不一致时，截取第二车辆内部图像与预设图像中存在差异的区域图像；将区域图像输入预设饮品识别模型，获取预设饮品识别模型的第一输出结果；若第一输出结果为车辆存在新增饮品，则执行采集第一车辆内部图像的步骤。In combination with the first aspect, in some possible implementations, if it is determined based on the second vehicle interior image that there are new drinks in the vehicle, the step of capturing the first vehicle interior image is executed, including: comparing the second vehicle interior image with a preset image; when it is determined that the second vehicle interior image is inconsistent with the preset image, capturing an area image where there is a difference between the second vehicle interior image and the preset image; inputting the area image into a preset beverage recognition model to obtain a first output result of the preset beverage recognition model; if the first output result is that there are new drinks in the vehicle, the step of capturing the first vehicle interior image is executed.
采用上述方案，通过在车辆检测到车辆中存在新增饮品时，则确认车辆内部人物存在饮用新增饮品，进入采集车辆内部人物的第一车辆内部图像的步骤，能够及时确认车辆内部人物的第一行为信息，准确控制车辆进入防倾洒模式；并且通过预设饮品识别模型确定在车辆中是否存在新增饮品，能够准确确定车辆是否存在新增饮品，进一步提高了控制车辆进入防倾洒模式的准确性。By adopting the above scheme, when the vehicle detects the presence of a new drink in the vehicle, it is confirmed that the person inside the vehicle is drinking the new drink, and the step of collecting the first vehicle interior image of the person inside the vehicle is entered. The first behavior information of the person inside the vehicle can be confirmed in time, and the vehicle can be accurately controlled to enter the anti-spill mode; and by determining whether there is a new drink in the vehicle through a preset drink recognition model, it can be accurately determined whether there is a new drink in the vehicle, further improving the accuracy of controlling the vehicle to enter the anti-spill mode.
结合第一方面，在某些可能的实现方式中，基于第一车辆内部图像确定车辆内部人物的第一行为信息，包括：将第一车辆内部图像输入预设行为识别模型，基于预设行为识别模型的第二输出结果确定车辆内部人物的第一行为信息。In combination with the first aspect, in some possible implementations, determining first behavior information of a person inside a vehicle based on a first vehicle interior image includes: inputting the first vehicle interior image into a preset behavior recognition model, and determining the first behavior information of the person inside the vehicle based on a second output result of the preset behavior recognition model.
结合第一方面，在某些可能的实现方式中，基于车辆行驶控制参数控制车辆的行驶之后，还包括：采集第三车辆内部图像；基于第三车辆内部图像确定车辆内部人物的第二行为信息；若第二行为信息为非饮用行为信息，则获取未检测到车辆内部人物的饮用行为信息的检测时长；在检测时长达到第二预设时长，则控制车辆退出防倾洒模式。In combination with the first aspect, in some possible implementations, after controlling the driving of the vehicle based on the vehicle driving control parameters, it also includes: acquiring a third vehicle interior image; determining second behavior information of a person inside the vehicle based on the third vehicle interior image; if the second behavior information is non-drinking behavior information, obtaining a detection time during which no drinking behavior information of the person inside the vehicle is detected; when the detection time reaches a second preset time, controlling the vehicle to exit the anti-spill mode.
采用上述方案，通过已经训练的预设行为识别模型的第二输出结果直接得到车辆内部人物的第一行为信息，不需要再对采集到的第一车辆内部图像进行特征提取等操作，由此能够准确、快速得到车辆内部人物的第一行为信息。并且在检测到车辆内部人物的第一行为信息为非饮用行为信息时，及时退出防倾洒模式，不需要驾驶员手动控制退出，提高了退出防倾洒模式的智能性。By adopting the above scheme, the first behavior information of the person inside the vehicle is directly obtained through the second output result of the trained preset behavior recognition model, and there is no need to perform feature extraction and other operations on the collected first vehicle interior image, thereby accurately and quickly obtaining the first behavior information of the person inside the vehicle. And when it is detected that the first behavior information of the person inside the vehicle is non-drinking behavior information, the anti-spill mode is exited in time, and the driver does not need to manually control the exit, which improves the intelligence of exiting the anti-spill mode.
第二方面，提供了一种车辆控制的装置，该装置包括：In a second aspect, a vehicle control device is provided, the device comprising:
图像获取单元，用于采集第一车辆内部图像，基于第一车辆内部图像确定车辆内部人物的第一行为信息；An image acquisition unit, configured to acquire a first vehicle interior image, and determine first behavior information of a person inside the vehicle based on the first vehicle interior image;
车速获取单元，用于若第一行为信息为饮用行为信息，则获取车辆的行驶速度；a vehicle speed acquisition unit, configured to acquire a driving speed of the vehicle if the first behavior information is drinking behavior information;
参数获取单元，用于基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数；A parameter acquisition unit, used to control the vehicle to enter an anti-spill mode based on the vehicle's driving speed, and to acquire vehicle driving control parameters corresponding to the anti-spill mode;
行驶控制单元，用于基于车辆行驶控制参数控制车辆的行驶。The driving control unit is used to control the driving of the vehicle based on the vehicle driving control parameters.
第三方面，提供一种汽车，包括：In a third aspect, a vehicle is provided, comprising:
存储器，用于存储可执行程序代码；A memory for storing executable program codes;
处理器，用于从存储器中调用并运行可执行程序代码，使得车辆执行上述第一方面或第一方面任意一种可能的实现方式中的方法。A processor is used to call and run executable program code from a memory so that the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.
第四方面，提供了一种计算机程序产品，该计算机程序产品包括：计算机程序代码，当该计算机程序代码在计算机上运行时，使得该计算机执行上述第一方面或第一方面任意一种可能的实现方式中的方法。In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.
第五方面，提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序代码，当该计算机程序代码在计算机上运行时，使得该计算机执行上述第一方面或第一方面任意一种可能的实现方式中的方法。In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本申请实施例提供的一种车辆控制方法的场景示意图；FIG1 is a schematic diagram of a scenario of a vehicle control method provided by an embodiment of the present application;
图2是本申请实施例提供的一种车辆控制方法的流程示意图；FIG2 is a flow chart of a vehicle control method provided in an embodiment of the present application;
图3是本申请实施例提供的一种车辆控制方法的流程示意图；FIG3 is a flow chart of a vehicle control method provided in an embodiment of the present application;
图4是本申请实施例提供的一种车辆控制方法的流程示意图；FIG4 is a flow chart of a vehicle control method provided in an embodiment of the present application;
图5是本申请实施例提供的一种车辆控制方法的流程示意图；FIG5 is a flow chart of a vehicle control method provided in an embodiment of the present application;
图6是本申请实施例提供的一种车辆控制方法的流程示意图；FIG6 is a flow chart of a vehicle control method provided in an embodiment of the present application;
图7是本申请实施例提供的一种车辆控制装置的结构示意图；FIG7 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;
图8是本申请实施例提供的一种车辆控制装置的结构示意图；FIG8 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;
图9是本申请实施例提供的一种车辆控制装置的结构示意图；FIG9 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;
图10是本申请实施例提供的一种车辆的结构示意图；FIG10 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;
图11是本申请实施例提供的一种车辆的结构示意图。FIG. 11 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application.
具体实施方式DETAILED DESCRIPTION
下面将结合附图，对本申请中的技术方案进行清楚、详尽地描述。其中，在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B：文本中的“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况，另外，在本申请实施例的描述中，“多个”是指两个或多于两个。The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, "/" means or, for example, A/B can mean A or B: "and/or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and/or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.
以下，术语“第一”、“第二”仅用于描述目的，而不能理解为暗示或暗示相对重要性或隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者多个该特征。In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.
图1是本申请实施例提供的一种车辆控制方法的场景示意图。FIG1 is a schematic diagram of a scenario of a vehicle control method provided in an embodiment of the present application.
如图1所示，在车辆行驶的过程中，位于副驾位置的车辆内部人物A端起饮品饮用，若此时驾驶员控制车辆急刹车或者急转弯，则会造成饮品倾洒至车辆，导致弄脏车辆、烫伤车辆内部人物、甚至导致驾驶员分心驾驶，发生安全事故等问题。As shown in FIG1 , while the vehicle is moving, a person A in the passenger seat picks up a drink to drink. If the driver brakes or makes a sharp turn at this time, the drink may spill onto the vehicle, soiling the vehicle, scalding the person in the vehicle, or even causing the driver to be distracted and causing a safety accident.
基于此，本申请提出了一种车辆控制方法，通过采集到的第一车辆内部图像确定车辆内部人物存在饮用行为信息时，进而基于车辆的行驶速度控制车辆进入防倾洒模式，并控制车辆按照防倾洒模式对应的车辆行驶控制参数行驶，基于防倾洒模式对应的车辆行驶控制参数控制车辆的行驶，避免车辆出现急转弯、急刹车等导致车身发生颠簸的情况，使车辆平稳行驶，从而在车辆内部人物存在饮用行为时，达到防止饮品倾洒的效果。Based on this, the present application proposes a vehicle control method, which determines through the collected first vehicle interior image that there is drinking behavior information of a person inside the vehicle, and then controls the vehicle to enter an anti-spill mode based on the vehicle's driving speed, and controls the vehicle to travel according to the vehicle driving control parameters corresponding to the anti-spill mode. The vehicle's driving is controlled based on the vehicle driving control parameters corresponding to the anti-spill mode to avoid sharp turns, sudden braking, etc. that may cause the vehicle body to shake, so that the vehicle can drive smoothly, thereby achieving the effect of preventing drinks from spilling when there is drinking behavior inside the vehicle.
基于图1所示的场景示意图，下面将结合图2-图6，对本申请实施例提供的车辆控制方法进行详细介绍。Based on the scenario diagram shown in FIG1 , the vehicle control method provided in the embodiment of the present application will be described in detail below in combination with FIGS. 2 to 6 .
请参见图2，为本申请实施例提供了一种车辆控制方法的流程示意图。如图2所示，本申请实施例的方法可以包括以下步骤S101-步骤S104。Please refer to Figure 2, which is a flow chart of a vehicle control method according to an embodiment of the present application. As shown in Figure 2, the method according to the embodiment of the present application may include the following steps S101 to S104.
S101，采集第一车辆内部图像，基于第一车辆内部图像确定车辆内部人物的第一行为信息；S101, collecting a first vehicle interior image, and determining first behavior information of a person inside the vehicle based on the first vehicle interior image;
一实施例中，第一车辆内部图像可以为采集到的某一时刻车辆内部的图像，在第一车辆内部图像中可以包括车辆内部人物的脸部信息、行为信息，或者车辆内部的布局、车辆的闭合组件(例如，天窗、门窗)的开关情况等信息。第一车辆内部图像可以通过安装在车辆内部的拍摄装置采集到，可选地，在本申请实施例中，拍摄装置可以安装在车辆后视镜附近、或者中央控制台附近等可以全面拍摄得到车辆内部人物的位置。车辆内部人物可以为乘坐车辆的人物，其包括一个或多个，可以理解的是，车辆内部人物包括位于车辆驾驶位置的驾驶人员。第一行为信息可以为车辆内部人物的行为信息，其可以包括睡眠行为信息、饮用行为信息、交流行为信息、休闲行为信息(例如，看书、玩手机等行为信息)。In one embodiment, the first vehicle interior image may be an image of the interior of the vehicle captured at a certain moment, and the first vehicle interior image may include facial information, behavioral information of people inside the vehicle, or information such as the layout of the interior of the vehicle, the opening and closing conditions of the closed components of the vehicle (for example, sunroof, doors and windows), etc. The first vehicle interior image may be captured by a shooting device installed inside the vehicle. Optionally, in an embodiment of the present application, the shooting device may be installed near the rearview mirror of the vehicle, or near the central control console, etc., so as to fully capture the position of the people inside the vehicle. The people inside the vehicle may be people riding in the vehicle, including one or more. It is understandable that the people inside the vehicle include the driver in the driving position of the vehicle. The first behavioral information may be behavioral information of people inside the vehicle, which may include sleeping behavior information, drinking behavior information, communication behavior information, and leisure behavior information (for example, reading, playing with mobile phones, etc.).
在本申请实施例中，可以根据第一车辆内部图像中的车辆内部人物的脸部信息、姿势信息、动作信息，或者进行物体检测等确定车辆内部人物的第一行为信息。例如，在采集到一张或者多张第一车辆内部图像后，在第一车辆内部图像中通过物体检测和姿势检测确定存在车辆内部人物A手持书本，则可以确定车辆内部人物A的第一行为信息为休闲行为信息。In the embodiment of the present application, the first behavior information of the person inside the vehicle can be determined based on the facial information, posture information, action information of the person inside the vehicle in the first vehicle interior image, or by object detection, etc. For example, after collecting one or more first vehicle interior images, if it is determined through object detection and posture detection in the first vehicle interior image that person A inside the vehicle holds a book, then the first behavior information of person A inside the vehicle can be determined to be leisure behavior information.
S102，若第一行为信息为饮用行为信息，则获取车辆的行驶速度；S102, if the first behavior information is drinking behavior information, obtaining the driving speed of the vehicle;
一实施例中，饮用行为信息可以为车辆内部人物发生饮用饮品的行为信息，例如，饮用咖啡、奶茶等饮品。可以理解的是，在一些情况下，若用户在车上食用容易倾洒类型的食物时，其同样需要控制车辆的行驶。由此，在本申请实施例中，饮用行为信息除了饮用饮品的行为信息外，其可以还包括食用食物的行为信息。若通过获取到的第一车辆内部图像确定车辆内部人物的第一行为信息为饮用行为信息时，则确定需要进一步获取车辆的行驶速度。In one embodiment, the drinking behavior information may be the behavior information of a person inside the vehicle drinking a beverage, for example, drinking coffee, milk tea or other beverages. It is understandable that in some cases, if a user eats food that is easy to spill in the vehicle, the user also needs to control the driving of the vehicle. Therefore, in an embodiment of the present application, the drinking behavior information may include the behavior information of eating food in addition to the behavior information of drinking beverages. If the first behavior information of the person inside the vehicle is determined to be drinking behavior information through the first vehicle interior image obtained, it is determined that the driving speed of the vehicle needs to be further obtained.
在本申请实施例中，若车辆内部人物存在多个时，可以在检测到任意一个车辆内部人物的第一行为信息为饮用行为信息时，确定需要获取车辆的行驶速度，进一步判断是否需要控制车辆进入防倾洒模式。In an embodiment of the present application, if there are multiple people inside the vehicle, when it is detected that the first behavior information of any person inside the vehicle is drinking behavior information, it can be determined that the vehicle's driving speed needs to be obtained, and further determined whether the vehicle needs to be controlled to enter the anti-spill mode.
S103，基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数；S103, controlling the vehicle to enter an anti-spill mode based on the vehicle's driving speed, and obtaining vehicle driving control parameters corresponding to the anti-spill mode;
一实施例中，在获取到车辆的行驶速度后，基于行驶速度控制车辆进入防倾洒模式，防倾洒模式可以为防止车辆车身发生颠簸、晃动的模式。在本申请实施例中，在获取到车辆的行驶速度后，可以控制车辆自动进入防倾洒模式，例如，在获取到车辆的行驶速度大于0的情况下，控制车辆进入防倾洒模式。在车辆进入防倾洒模式后，获取防倾洒模式对应的车辆行驶控制参数，车辆行驶控制参数可以为控制车辆行驶的参数。在本申请实施例中，车辆在防倾洒模式下对应的车辆行驶控制参数可以包括车辆的行驶速度、加速度、转向等控制参数。In one embodiment, after the vehicle's driving speed is obtained, the vehicle is controlled to enter an anti-dumping mode based on the driving speed. The anti-dumping mode may be a mode for preventing the vehicle body from being bumped or shaken. In an embodiment of the present application, after the vehicle's driving speed is obtained, the vehicle may be controlled to automatically enter an anti-dumping mode. For example, when the vehicle's driving speed is obtained to be greater than 0, the vehicle is controlled to enter an anti-dumping mode. After the vehicle enters the anti-dumping mode, vehicle driving control parameters corresponding to the anti-dumping mode are obtained. The vehicle driving control parameters may be parameters for controlling the vehicle's driving. In an embodiment of the present application, the vehicle driving control parameters corresponding to the vehicle in the anti-dumping mode may include control parameters such as the vehicle's driving speed, acceleration, and steering.
在本申请实施例中，防倾洒模式对应的车辆行驶控制参数可以预先存储于存储器，由此，在基于车辆的行驶速度控制车辆进入防倾洒模式时，即可在存储器中得到防倾洒模式对应的车辆行驶控制参数。In an embodiment of the present application, the vehicle driving control parameters corresponding to the anti-spill mode can be pre-stored in a memory, whereby when the vehicle is controlled to enter the anti-spill mode based on the vehicle's driving speed, the vehicle driving control parameters corresponding to the anti-spill mode can be obtained in the memory.
S104，基于车辆行驶控制参数控制车辆的行驶。S104, controlling the driving of the vehicle based on the vehicle driving control parameters.
一实施例中，确定防倾洒模式对应的车辆行驶控制参数后，基于该车辆行驶控制参数控制车辆的行驶。例如，在确定车辆行驶控制参数为40KM/H(公里/小时)，控制车辆按照该行驶速度行驶。In one embodiment, after determining the vehicle driving control parameter corresponding to the anti-spill mode, the vehicle is controlled to travel based on the vehicle driving control parameter. For example, when the vehicle driving control parameter is determined to be 40 KM/H (kilometers per hour), the vehicle is controlled to travel at the driving speed.
在本申请实施例中，在根据采集到的第一车辆内部图像确定车辆内部人物的第一行为信息为饮用行为信息时，进而基于车辆的行驶速度控制车辆进入防倾洒模式，并控制车辆按照防倾洒模式对应的车辆行驶控制参数行驶，基于防倾洒模式对应的车辆行驶控制参数控制车辆的行驶，能够避免车辆出现急转弯、急刹车等导致车身发生颠簸的情况，使车辆平稳行驶，从而在车辆内部人物存在饮用行为时，达到防止饮品倾洒的效果。In an embodiment of the present application, when the first behavior information of the person inside the vehicle is determined to be drinking behavior information based on the collected first vehicle interior image, the vehicle is controlled to enter the anti-spill mode based on the vehicle's driving speed, and the vehicle is controlled to travel according to the vehicle driving control parameters corresponding to the anti-spill mode. Controlling the vehicle's travel based on the vehicle driving control parameters corresponding to the anti-spill mode can avoid situations in which the vehicle body is shaken due to sharp turns, sudden braking, etc., and allows the vehicle to travel smoothly, thereby achieving the effect of preventing drinks from spilling when the person inside the vehicle is drinking.
请参见图3，为本申请实施例提供了一种车辆控制方法的流程示意图。如图3所示，本申请实施例的方法可以包括以下步骤S201-步骤S204。Please refer to Figure 3, which is a flow chart of a vehicle control method according to an embodiment of the present application. As shown in Figure 3, the method according to the embodiment of the present application may include the following steps S201 to S204.
S201，采集第一车辆内部图像，基于第一车辆内部图像确定车辆内部人物的第一行为信息；S201, collecting a first vehicle interior image, and determining first behavior information of a person inside the vehicle based on the first vehicle interior image;
具体地，请参见上述说明书实施例中步骤S101的说明，在此不加赘述。For details, please refer to the description of step S101 in the above-mentioned embodiment of the specification, which will not be elaborated here.
S202，若第一行为信息为饮用行为信息，则获取车辆的行驶速度；S202, if the first behavior information is drinking behavior information, obtaining the driving speed of the vehicle;
具体地，请参见上述说明书实施例中步骤S101的说明，在此不加赘述。For details, please refer to the description of step S101 in the above-mentioned embodiment of the specification, which will not be elaborated here.
可以理解的是，在获取到车辆的行驶速度后，基于行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数，包括：在一种情况下，在确定车辆的行驶速度大于零时，直接控制车辆进入防倾洒模式，进而获取防倾洒模式对应的车辆行驶控制参数，具体请参照下述步骤S203；在另一种情况下，在确定车辆的行驶速度等于零时，还需获取车辆的外部环境信息，基于车辆的外部环境信息控制车辆进入防倾洒模式，进而获取防倾洒模式对应的车辆行驶控制参数，具体请参照下述步骤S210-步骤S213。It can be understood that after obtaining the driving speed of the vehicle, the vehicle is controlled to enter the anti-dumping mode based on the driving speed, and the vehicle driving control parameters corresponding to the anti-dumping mode are obtained, including: in one case, when it is determined that the driving speed of the vehicle is greater than zero, the vehicle is directly controlled to enter the anti-dumping mode, and then the vehicle driving control parameters corresponding to the anti-dumping mode are obtained, please refer to the following step S203 for details; in another case, when it is determined that the driving speed of the vehicle is equal to zero, it is also necessary to obtain the external environment information of the vehicle, and control the vehicle to enter the anti-dumping mode based on the external environment information of the vehicle, and then obtain the vehicle driving control parameters corresponding to the anti-dumping mode, please refer to the following steps S210-S213 for details.
S203，若车辆的行驶速度大于零，则控制车辆进入防倾洒模式；S203, if the vehicle's travel speed is greater than zero, controlling the vehicle to enter an anti-spill mode;
一实施例中，车辆的行驶状态可以包括超速状态和避让障碍物状态，超速状态可以为车辆的行驶速度大于车辆在防倾洒模式下的预设行驶速度的状态、避让障碍物状态可以为车辆前方存在会导致车辆的车身发生颠簸、晃动的物体(障碍物)，需要对其进行避让的状态。其中在车辆的行驶状态为超速状态下，对车辆的控制请参照步骤S204-步骤S206；在车辆的行驶状态为避让障碍物状态下，对车辆的控制请参照步骤S207-步骤S209。In one embodiment, the driving state of the vehicle may include an overspeeding state and an obstacle avoidance state. The overspeeding state may be a state in which the driving speed of the vehicle is greater than the preset driving speed of the vehicle in the anti-spill mode, and the obstacle avoidance state may be a state in which there is an object (obstacle) in front of the vehicle that causes the vehicle body to bump or shake, and it is necessary to avoid it. When the driving state of the vehicle is an overspeeding state, please refer to steps S204 to S206 for the control of the vehicle; when the driving state of the vehicle is an obstacle avoidance state, please refer to steps S207 to S209 for the control of the vehicle.
S204，若在防倾洒模式下确定行驶速度大于预设行驶速度，则确定车辆的行驶状态为超速状态；S204, if it is determined that the driving speed is greater than the preset driving speed in the anti-spill mode, determining that the driving state of the vehicle is an overspeeding state;
一实施例中，在车辆进入防倾洒模式后，确定车辆的行驶速度大于预设行驶速度的情况下，则可以确定车辆的行驶状态为超速状态。预设行驶速度可以为在防倾洒模式下维持车辆平稳运行的速度，示例性地，预设行驶速度可以为50KM/H，在确定车辆的行驶速度大于或等于50KM/H时，则可以判断车辆的行驶状态为超速状态。In one embodiment, after the vehicle enters the anti-spill mode, if it is determined that the vehicle's driving speed is greater than a preset driving speed, the vehicle's driving state can be determined to be an overspeeding state. The preset driving speed can be a speed that maintains the vehicle's stable operation in the anti-spill mode. For example, the preset driving speed can be 50 km/h. When it is determined that the vehicle's driving speed is greater than or equal to 50 km/h, the vehicle's driving state can be determined to be an overspeeding state.
在一些实施方式中，车辆还可以根据行驶的道路自动设置预设行驶速度，例如，若车辆行驶在学校路口路段，其可以设置预设行驶速度为20KM/H；若车辆行驶在县道上，则可以设置预设行驶速度为40KM/H。In some embodiments, the vehicle can also automatically set a preset driving speed according to the road it is traveling on. For example, if the vehicle is traveling on a school intersection, the preset driving speed can be set to 20KM/H; if the vehicle is traveling on a county road, the preset driving speed can be set to 40KM/H.
S205，获取超速状态对应的预设加速度参数；S205, obtaining a preset acceleration parameter corresponding to the overspeed state;
一实施例中，在车辆的行驶状态为超速状态时，获取车辆在超速状态对应的预设加速度参数，其中预设加速度参数可以为车辆在防倾洒模式下所设置的加速度值，示例性地，其可以为-10m/s2。In one embodiment, when the vehicle is in an overspeed state, a preset acceleration parameter corresponding to the vehicle in the overspeed state is obtained, wherein the preset acceleration parameter may be an acceleration value set for the vehicle in an anti-spill mode, and illustratively, may be -10 m/s2 .
可以理解的是，超速状态对应的预设加速度参数可以预先存储于存储器中，由此，在确定车辆的行驶状态为超速状态，则可以获取到超速状态对应的预设加速度参数。It can be understood that the preset acceleration parameters corresponding to the speeding state can be pre-stored in the memory, so that when it is determined that the driving state of the vehicle is the speeding state, the preset acceleration parameters corresponding to the speeding state can be obtained.
S206，基于预设加速度参数控制车辆降低行驶速度，直至行驶速度小于或等于预设行驶速度；S206, controlling the vehicle to reduce the driving speed based on the preset acceleration parameter until the driving speed is less than or equal to the preset driving speed;
一实施例中，在车辆的行驶状态为超速状态，并获取车辆在超速状态对应的预设加速度参数后，按照该预设加速度参数控制车辆降低行驶速度，直至车辆的行驶速度小于或等于预设行驶速度。In one embodiment, when the driving state of the vehicle is an overspeeding state and a preset acceleration parameter corresponding to the vehicle in the overspeeding state is obtained, the vehicle is controlled to reduce the driving speed according to the preset acceleration parameter until the driving speed of the vehicle is less than or equal to the preset driving speed.
在本申请实施例中，在车辆的行驶速度大于零的情况下直接控制车辆进入防倾洒模式，不需要人为去判断，实现了智能、准确地控制车辆进入防倾洒模式。在车辆进入防倾洒模式后，且车辆的行驶状态为超速状态下，控制车辆按照预设加速度降低车辆的行驶速度，直至小于或等于预设行驶速度，由于按照预设加速度降低车辆的行驶速度，避免了车辆的速度急剧降低，从而导致车身晃动的问题，并且控制车辆的行驶速度降低在预设行驶速度以下，能够控制车辆维持平稳行驶。In the embodiment of the present application, when the vehicle's driving speed is greater than zero, the vehicle is directly controlled to enter the anti-dumping mode without manual judgment, thereby realizing intelligent and accurate control of the vehicle to enter the anti-dumping mode. After the vehicle enters the anti-dumping mode, and the vehicle's driving state is in an overspeed state, the vehicle is controlled to reduce the vehicle's driving speed according to a preset acceleration until it is less than or equal to the preset driving speed. Since the vehicle's driving speed is reduced according to the preset acceleration, the problem of a sharp reduction in the vehicle speed, which causes the body to shake, is avoided, and the vehicle's driving speed is controlled to be reduced below the preset driving speed, so that the vehicle can be controlled to maintain stable driving.
请参照步骤S207-步骤S209，其为在车辆的行驶状态为避让障碍物状态下，对车辆的行驶进行控制具体步骤。Please refer to step S207 to step S209, which are specific steps for controlling the driving of the vehicle when the driving state of the vehicle is in the obstacle avoidance state.
S207，在防倾洒模式下，获取车辆行驶方向前方的障碍物信息；S207, in the anti-spill mode, obtaining obstacle information in front of the vehicle in the driving direction;
一实施例中，在车辆行驶的过程中，车辆行驶方向前方存在障碍物时，则获取该障碍物的障碍物信息，障碍物信息包括障碍物的类型、高度、深度、大小等信息。In one embodiment, when there is an obstacle in front of the vehicle in the driving direction during the vehicle's driving, obstacle information of the obstacle is obtained, and the obstacle information includes information such as the type, height, depth, and size of the obstacle.
在一实施方式中，车辆可以使用激光雷达、摄像头、超声波传感器等传感器获取到前方的障碍物信息。In one embodiment, the vehicle can use sensors such as laser radar, camera, ultrasonic sensor, etc. to obtain information about obstacles ahead.
可以理解的是，为了保持车辆的平稳运行，车辆需要充足的时间对障碍物进行避让，由此在本申请实施例中，车辆可以通过激光雷达获取车辆行驶方向前方10米-100米范围内的障碍物信息。It is understandable that in order to maintain smooth operation of the vehicle, the vehicle needs sufficient time to avoid obstacles. Therefore, in an embodiment of the present application, the vehicle can obtain obstacle information within a range of 10 meters to 100 meters in front of the vehicle's driving direction through a laser radar.
S208，基于障碍物信息确定车辆的行驶状态为避让障碍物状态，获取避让障碍物状态对应的预设转向参数；S208, determining that the driving state of the vehicle is an obstacle avoidance state based on the obstacle information, and obtaining a preset steering parameter corresponding to the obstacle avoidance state;
一实施例中，若基于障碍物信息确定车辆需要躲避该障碍物，则确定车辆的行驶状态为避让障碍物状态，获取障碍物状态对应的预设转向参数，预设转向参数为控制车辆的行驶方向发生变化的参数，例如控制方向盘向左转、或者向右转。In one embodiment, if it is determined based on the obstacle information that the vehicle needs to avoid the obstacle, the vehicle's driving state is determined to be an obstacle avoidance state, and a preset steering parameter corresponding to the obstacle state is obtained. The preset steering parameter is a parameter that controls the change in the vehicle's driving direction, such as controlling the steering wheel to turn left or right.
在一些实施方式中，在车辆躲避障碍物时，可以通过障碍物信息确定障碍物在车辆行驶方向前方的位置信息确定预设转向参数，例如，若基于障碍物信息确定车辆在行驶方向前方的右边位置，则确定预设转向参数为左转向5°。In some embodiments, when a vehicle avoids an obstacle, the preset steering parameter can be determined by determining the position information of the obstacle in front of the vehicle's travel direction through the obstacle information. For example, if the right position of the vehicle in front of the travel direction is determined based on the obstacle information, the preset steering parameter is determined to be a left turn of 5°.
S209，基于预设转向参数控制车辆避让障碍物信息对应的障碍物。S209: Control the vehicle to avoid obstacles corresponding to the obstacle information based on preset steering parameters.
一实施例中，在车辆的行驶状态为避让障碍物状态时，获取避让障碍物状态对应的预设转向参数，基于该预设转向参数控制车辆避让障碍物信息对应的障碍物。In one embodiment, when the driving state of the vehicle is an obstacle avoidance state, a preset steering parameter corresponding to the obstacle avoidance state is acquired, and the vehicle is controlled to avoid an obstacle corresponding to the obstacle information based on the preset steering parameter.
在本申请实施例中，在车辆的行驶状态为避让障碍物状态下，控制车辆按照预设转向参数避开障碍物，由于在避开障碍物时控制车辆按照预设转向参数行驶，避免了车辆的行驶方向快速变化，从而导致车身晃动的问题，由此能够控制车辆维持平稳行驶。In an embodiment of the present application, when the vehicle is driving in an obstacle avoidance state, the vehicle is controlled to avoid the obstacle according to preset steering parameters. Since the vehicle is controlled to drive according to preset steering parameters when avoiding obstacles, the problem of rapid changes in the driving direction of the vehicle, which causes body shaking, is avoided, thereby controlling the vehicle to maintain smooth driving.
可以理解的是，在本申请实施例中，车辆的行驶状态还可以为避让障碍物状态和超速状态二者结合，在此情况下，车辆的行驶状态对应的车辆行驶控制参数可以为预设转向参数和预设加速度参数二者结合。可选地，根据障碍物信息在确定车辆有充足的时间避让障碍物的情况下，可先控制车辆按照预设加速度参数降低车辆的行驶速度，进而再按照预设转向参数控制车辆避开障碍物，避免车辆在快速行驶的情况下改变行驶方向，导致车辆的车身发生晃动。It is understandable that in the embodiment of the present application, the driving state of the vehicle may also be a combination of an obstacle avoidance state and an overspeed state. In this case, the vehicle driving control parameter corresponding to the driving state of the vehicle may be a combination of a preset steering parameter and a preset acceleration parameter. Optionally, when it is determined that the vehicle has sufficient time to avoid the obstacle based on the obstacle information, the vehicle may be controlled to reduce the driving speed of the vehicle according to the preset acceleration parameter, and then the vehicle may be controlled to avoid the obstacle according to the preset steering parameter, so as to avoid the vehicle changing the driving direction when driving fast, causing the vehicle body to shake.
请参照步骤S210-步骤S213，其为在车辆的行驶速度为零时，对车辆进行控制具体步骤。Please refer to step S210 to step S213, which are specific steps for controlling the vehicle when the vehicle's driving speed is zero.
S210，若车辆的行驶速度等于零，则获取车辆的外部环境信息；S210, if the driving speed of the vehicle is zero, obtaining the external environment information of the vehicle;
一实施例中，在车辆的行驶速度为零，代表当前车辆未行驶。虽然车辆未行驶，其不需要防控由于行驶因素造成的车身晃动问题，但其需要躲避其它物体的碰撞风险，例如其它车辆的碰撞所造成的车身不稳定。由此在本申请实施例中，在车辆的行驶速度等于零的情况下，需要获取车辆的外部环境信息，车辆外部环境信息可以为车辆周围的环境信息，其可以为车辆停放周围10米的环境信息。In one embodiment, when the vehicle's speed is zero, it means that the vehicle is not currently moving. Although the vehicle is not moving, it does not need to prevent and control the body shaking problem caused by driving factors, but it needs to avoid the risk of collision with other objects, such as body instability caused by collision with other vehicles. Therefore, in this embodiment of the application, when the vehicle's speed is zero, it is necessary to obtain the vehicle's external environment information, and the vehicle's external environment information can be the environment information around the vehicle, which can be the environment information 10 meters around the vehicle.
S211，若基于外部环境信息确定车辆存在碰撞风险，则控制车辆进入防倾洒模式；S211, if it is determined based on the external environment information that the vehicle has a collision risk, controlling the vehicle to enter an anti-spill mode;
一实施例中，在获取到车辆的外部环境信息后，可以基于外部环境信息确定车辆是否存在碰撞风险，若存在碰撞风险则控制车辆进入防倾洒模式。示例性地，若外部环境信息为车辆与其它车辆的距离小于50厘米则确定车辆存在碰撞风险，控制车辆进入防倾洒模式。In one embodiment, after obtaining the external environment information of the vehicle, it can be determined whether the vehicle has a collision risk based on the external environment information, and if there is a collision risk, the vehicle is controlled to enter the anti-spill mode. For example, if the external environment information shows that the distance between the vehicle and other vehicles is less than 50 centimeters, it is determined that the vehicle has a collision risk, and the vehicle is controlled to enter the anti-spill mode.
在另一实施方式中，可以通过拍摄装置拍摄车辆的外部环境信息。例如，通过拍摄装置连续拍到的多张图像分析车辆是否存在碰撞风险，若存在，则控制车辆进入防倾洒模式。In another embodiment, the external environment information of the vehicle can be photographed by a camera. For example, multiple images continuously photographed by the camera are analyzed to determine whether the vehicle has a collision risk, and if so, the vehicle is controlled to enter an anti-spill mode.
S212，获取防倾洒模式对应的预设驻车制动参数；S212, obtaining preset parking brake parameters corresponding to the anti-spill mode;
S213，基于预设驻车制动参数控制车辆的行驶速度为零。S213: Control the vehicle's travel speed to zero based on preset parking brake parameters.
一实施例中，在确定车辆存在碰撞风险时，控制车辆进入防倾洒模式，并获取防倾洒模式对应的预设驻车制动参数，预设驻车制动参数可以为车辆在在静止状态下，发生碰撞风险时所采取的制动参数，其可以为控制拉下手刹。进而基于预设驻车制动参数控制车辆保持行驶速度为零。In one embodiment, when it is determined that the vehicle has a collision risk, the vehicle is controlled to enter an anti-spill mode, and a preset parking brake parameter corresponding to the anti-spill mode is obtained. The preset parking brake parameter may be a braking parameter taken when the vehicle is in a stationary state and a collision risk occurs, which may be used to control the handbrake to be pulled down. Then, based on the preset parking brake parameter, the vehicle is controlled to maintain a driving speed of zero.
在本申请实施例中，在车辆的行驶速度为零，且确定存在碰撞风险的情况下，准确控制车辆进入防倾洒模式，并且获取防倾洒模式对应的预设驻车制动参数，通过预设驻车制动参数能够使车辆保持静止，防止车辆在发生碰撞时滑动，维持车身稳定。In an embodiment of the present application, when the vehicle's driving speed is zero and it is determined that there is a risk of collision, the vehicle is accurately controlled to enter the anti-spill mode, and the preset parking brake parameters corresponding to the anti-spill mode are obtained. The preset parking brake parameters can keep the vehicle stationary, prevent the vehicle from sliding in the event of a collision, and maintain the stability of the vehicle body.
请参见图4，为本申请实施例提供了一种车辆控制方法的流程示意图。如图4所示，本申请实施例的方法可以包括以下步骤S301-步骤S308。Please refer to Figure 4, which is a flow chart of a vehicle control method according to an embodiment of the present application. As shown in Figure 4, the method according to the embodiment of the present application may include the following steps S301 to S308.
S301，建立与车辆内部人物对应的移动终端之间的连接；S301, establishing a connection between a mobile terminal corresponding to a person inside the vehicle;
一实施例中，车辆与车辆内部人物对应的移动终端(例如，智能手机、平板电脑等)建立连接(例如，蓝牙连接等)，由此车辆内部人物可以通过移动终端对车辆的娱乐系统、座椅、空调、导航等进行控制，其也可以在征得用户同意后，将移动终端上的歌单、购买记录、行程安排等信息发送至车辆。In one embodiment, a connection (e.g., Bluetooth connection, etc.) is established between the vehicle and a mobile terminal (e.g., a smart phone, tablet computer, etc.) corresponding to a person inside the vehicle, so that the person inside the vehicle can control the vehicle's entertainment system, seats, air conditioning, navigation, etc. through the mobile terminal. The person can also send information such as playlists, purchase records, itinerary arrangements, etc. on the mobile terminal to the vehicle after obtaining the user's consent.
S302，获取车辆内部人物在第一预设时长内使用移动终端的购买记录；S302, obtaining a purchase record of a person in the vehicle using a mobile terminal within a first preset time period;
一实施例中，在车辆与车辆内部人物对应的移动终端建立连接后，获取车辆内部人物在第一预设时长内使用移动终端的购买记录，示例性地，第一预设时长可以设置为3个小时。In one embodiment, after a connection is established between the vehicle and a mobile terminal corresponding to a person inside the vehicle, a purchase record of the person inside the vehicle using the mobile terminal within a first preset time period is obtained. Exemplarily, the first preset time period can be set to 3 hours.
S303，若购买记录中存在饮品信息，则获取车辆的闭合组件的开关切换状态；S303, if there is beverage information in the purchase record, obtaining the switch status of the closing component of the vehicle;
一实施例中，在车辆获取到移动终端的购买记录中存在饮品信息时，则获取车辆的闭合组件的开关切换状态。闭合组件包括车辆的门、窗等组件。可选的，车辆可以通过传感器、或者拍摄装置确定闭合组件的开关切换状态。In one embodiment, when the vehicle obtains beverage information in the purchase record of the mobile terminal, the switch state of the closed component of the vehicle is obtained. The closed component includes components such as doors and windows of the vehicle. Optionally, the vehicle can determine the switch state of the closed component through a sensor or a camera.
S304，若闭合组件的开关切换状态满足预设条件，则采集第二车辆内部图像；S304, if the switch switching state of the closing component meets the preset condition, then collecting a second vehicle interior image;
一实施例中，在闭合组件的开关切换状态满足预设条件时，则采集第二车辆内部图像。预设条件可以包括闭合组件保持开启状态、闭合组件从关闭状态切换为开启状态、或者从开启状态切换为关闭状态其中的任意一个。第二车辆内部图像可以为采集到的某一时刻车辆内部的图像，与第一车辆内部图像相似，在第二车辆内部图像中可以包括车辆内部人物的脸部信息、行为信息，或者车辆内部的布局、车辆的闭合组件(例如，天窗、门窗)的开关情况等信息。In one embodiment, when the switch switching state of the closing component satisfies a preset condition, a second vehicle interior image is captured. The preset condition may include any one of the closing component remaining in an open state, the closing component switching from a closed state to an open state, or switching from an open state to a closed state. The second vehicle interior image may be an image of the interior of the vehicle captured at a certain moment, and similar to the first vehicle interior image, the second vehicle interior image may include facial information, behavior information of people inside the vehicle, or the layout of the interior of the vehicle, the switch status of the vehicle's closing components (e.g., sunroof, doors and windows), and other information.
S305，将第二车辆内部图像与预设图像进行比对；S305, comparing the second vehicle interior image with the preset image;
一实施例中，车辆采集到第二车辆内部图像后，将第二车辆内部图像与预设图像进行比对。预设图像可以为在车辆内部人物入座后拍摄到的图像。示例性地，在比对时其可以先对第二车辆内部图像和预设图像进行去噪、灰度化、尺寸标准化等预处理，进而对其进行特征提取，在使用特征匹配算法来比较提取的特征。In one embodiment, after the vehicle collects the second vehicle interior image, the second vehicle interior image is compared with a preset image. The preset image may be an image taken after a person is seated in the vehicle. Exemplarily, during the comparison, the second vehicle interior image and the preset image may be pre-processed by denoising, graying, and size standardization, and then feature extraction is performed on them, and the extracted features are compared using a feature matching algorithm.
S306，在确定第二车辆内部图像与预设图像不一致时，截取第二车辆内部图像与预设图像中存在差异的区域图像；S306, when it is determined that the second vehicle interior image is inconsistent with the preset image, intercepting an image of a region where there is a difference between the second vehicle interior image and the preset image;
一实施例中，根据特征比对结果确定第二车辆内部图像和预设图像不一致时，则截取第二车辆内部图像中与预设图像存在差异的区域图像，在本申请实施例中，区域图像可以包括一个或多个。In one embodiment, when it is determined based on the feature comparison result that the second vehicle interior image and the preset image are inconsistent, a regional image in the second vehicle interior image that is different from the preset image is captured. In this embodiment of the present application, the regional image may include one or more.
S307，将区域图像输入预设饮品识别模型，获取预设饮品识别模型的第一输出结果；S307, inputting the regional image into a preset beverage recognition model to obtain a first output result of the preset beverage recognition model;
将区域图像输入至预设饮品识别模型，获取预设饮品识别模型的第一输出结果。预设饮品识别模型可以为训练得到的用于识别图像中所包含的饮品的模型。示例性地，预设饮品识别模型可以为PP-ShiTu。The regional image is input into a preset beverage recognition model to obtain a first output result of the preset beverage recognition model. The preset beverage recognition model may be a model obtained through training for recognizing beverages contained in the image. For example, the preset beverage recognition model may be PP-ShiTu.
S308，若第一输出结果为车辆存在新增饮品，则执行采集第一车辆内部图像的步骤。S308: If the first output result is that there is a new beverage in the vehicle, the step of capturing the first vehicle interior image is executed.
一实施例中，车辆在确定预设饮品识别模型的第一输出结果为车辆存在新增饮品时，则执行获取第一车辆内部图像的步骤。In one embodiment, when the vehicle determines that a first output result of a preset beverage recognition model is that a new beverage is present in the vehicle, the step of acquiring a first vehicle interior image is executed.
在本申请实施例中，通过在车辆检测到车辆中存在新增饮品时，则确认车辆内部人物存在饮用新增饮品，进入采集车辆内部人物的第一车辆内部图像的步骤，能够及时确认车辆内部人物的第一行为信息，准确控制车辆进入防倾洒模式；并且在本申请实施例中通过预设饮品识别模型确定在车辆中是否存在新增饮品，能够准确确定车辆是否存在新增饮品，进一步提高了控制车辆进入防倾洒模式的准确性。In an embodiment of the present application, when the vehicle detects the presence of a new beverage in the vehicle, it is confirmed that a person inside the vehicle is drinking the new beverage, and the step of collecting a first interior image of the person inside the vehicle is entered. This allows timely confirmation of the first behavior information of the person inside the vehicle, and accurately controls the vehicle to enter the anti-spill mode. In addition, in an embodiment of the present application, a preset beverage recognition model is used to determine whether there is a new beverage in the vehicle, so it is possible to accurately determine whether there is a new beverage in the vehicle, further improving the accuracy of controlling the vehicle to enter the anti-spill mode.
请参见图5，为本申请实施例提供了一种车辆控制方法的流程示意图。如图5所示，本申请实施例的方法可以包括以下步骤S401-步骤S409。Please refer to Figure 5, which is a flow chart of a vehicle control method according to an embodiment of the present application. As shown in Figure 5, the method according to the embodiment of the present application may include the following steps S401 to S409.
S401，采集第一车辆内部图像；S401, collecting a first vehicle interior image;
具体地，请参见上述说明书实施例中步骤S101的说明，在此不加赘述。For details, please refer to the description of step S101 in the above-mentioned embodiment of the specification, which will not be elaborated here.
S402，将第一车辆内部图像输入预设行为识别模型，基于预设行为识别模型的第二输出结果确定车辆内部人物的第一行为信息；S402, inputting the first vehicle interior image into a preset behavior recognition model, and determining first behavior information of a person inside the vehicle based on a second output result of the preset behavior recognition model;
一实施例中，预设行为识别模型可以为预先训练得到的用于识别用户行为的模型，示例性地，预设行为识别模型可以为TSN模型。预设行为模型的第二输出结果其可以包含多种行为信息，例如，睡眠行为信息、饮用行为信息、交流行为信息、休闲行为信息。在获取到预设模型的第二输出结果后，即可确定车辆内部人物的第一行为信息，示例性的，在本申请实施例中第一行为信息可以包括睡眠行为信息、饮用行为信息、交流行为信息、休闲行为信息中的任意一种或多种。In one embodiment, the preset behavior recognition model may be a pre-trained model for identifying user behavior. Exemplarily, the preset behavior recognition model may be a TSN model. The second output result of the preset behavior model may include a variety of behavior information, such as sleeping behavior information, drinking behavior information, communication behavior information, and leisure behavior information. After obtaining the second output result of the preset model, the first behavior information of the person inside the vehicle can be determined. Exemplarily, in an embodiment of the present application, the first behavior information may include any one or more of sleeping behavior information, drinking behavior information, communication behavior information, and leisure behavior information.
S403，若第一行为信息为饮用行为信息，则获取车辆的行驶速度；S403, if the first behavior information is drinking behavior information, obtaining the driving speed of the vehicle;
S404，基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数；S404, controlling the vehicle to enter an anti-spill mode based on the vehicle's driving speed, and obtaining vehicle driving control parameters corresponding to the anti-spill mode;
S405，基于车辆行驶控制参数控制车辆的行驶；S405, controlling the driving of the vehicle based on the vehicle driving control parameter;
具体地，请参见上述说明书实施例中步骤S102-步骤S104的说明，在此不加赘述。Specifically, please refer to the description of step S102 to step S104 in the above description embodiment, which will not be repeated here.
S406，采集第三车辆内部图像；S406, collecting an interior image of a third vehicle;
一实施例中，在车辆进入防倾洒模式后，车辆采集第三车辆内部图像。第三车辆内部图像可以为在某一时刻采集到的某一时刻车辆内部的图像，与第一车辆内部图像类似，在第三车辆内部图像中可以包括车辆内部人物的脸部信息、行为信息。In one embodiment, after the vehicle enters the anti-spill mode, the vehicle collects a third vehicle interior image. The third vehicle interior image may be an image of the interior of the vehicle collected at a certain moment, and similar to the first vehicle interior image, the third vehicle interior image may include facial information and behavior information of people inside the vehicle.
S407，基于第三车辆内部图像确定车辆内部人物的第二行为信息；S407, determining second behavior information of the person inside the vehicle based on the third vehicle interior image;
具体地，基于第三车辆内部图像确定车辆内部人物的第二行为信息与上述基于第一车辆内部图像确定车辆内部人物的第一行为信息类似，请参见上述说明书实施例中的说明，在此不再赘述。Specifically, the second behavior information of the person inside the vehicle determined based on the third vehicle interior image is similar to the first behavior information of the person inside the vehicle determined based on the first vehicle interior image. Please refer to the description in the above-mentioned embodiment of the specification, and no further details will be given here.
S408，若第二行为信息为非饮用行为信息，则获取未检测到车辆内部人物的饮用行为信息的检测时长；S408, if the second behavior information is non-drinking behavior information, obtaining a detection time duration during which no drinking behavior information of the person inside the vehicle is detected;
一实施例中，在基于第三车辆内部图像确定车辆内部人物的第二行为信息为非饮用行为信息，例如，第二行为信息为睡眠行为信息、交流行为信息、休闲行为信息中的任意一种或多种时，确定第二行为信息为非饮用行为信息，进而统计未检测到车辆内部人物的饮用行为信息的检测时长。In one embodiment, when the second behavior information of a person inside the vehicle is determined to be non-drinking behavior information based on a third vehicle interior image, for example, when the second behavior information is any one or more of sleeping behavior information, communication behavior information, and leisure behavior information, the second behavior information is determined to be non-drinking behavior information, and then the detection time during which the drinking behavior information of the person inside the vehicle is not detected is counted.
S409，在检测时长达到第二预设时长，则控制车辆退出防倾洒模式。S409: When the detection time reaches a second preset time, the vehicle is controlled to exit the anti-spill mode.
在一实施例中，在检测时长达到第二预设时长时，可以确定车辆内部人物已经喝完饮品或者车辆内部人物当前不需要饮用饮品，则控制车辆退出防倾洒模式，可以理解的是，在车辆退出防倾洒模式后，车辆的加速度、转向控制等可以不按照预设加速度参数、预设转向参数进行调整。In one embodiment, when the detection time reaches a second preset time, it can be determined that the person inside the vehicle has finished drinking the drink or the person inside the vehicle does not need to drink the drink currently, and the vehicle is controlled to exit the anti-spill mode. It can be understood that after the vehicle exits the anti-spill mode, the vehicle's acceleration, steering control, etc. may not be adjusted according to the preset acceleration parameters and preset steering parameters.
在本申请实施例中，通过已经训练的预设行为识别模型的第二输出结果直接得到车辆内部人物的第一行为信息，不需要再对采集到的第一车辆内部图像进行特征提取等操作，由此能够准确、快速得到车辆内部人物的第一行为信息。并且在检测到车辆内部人物的第一行为信息为非饮用行为信息时，及时退出防倾洒模式，不需要驾驶员手动控制退出，提高了退出防倾洒模式的智能性。In the embodiment of the present application, the first behavior information of the person inside the vehicle is directly obtained through the second output result of the trained preset behavior recognition model, and there is no need to perform feature extraction and other operations on the collected first vehicle interior image, thereby accurately and quickly obtaining the first behavior information of the person inside the vehicle. And when it is detected that the first behavior information of the person inside the vehicle is non-drinking behavior information, the anti-spill mode is exited in time, and the driver does not need to manually control the exit, which improves the intelligence of exiting the anti-spill mode.
进一步地，在本申请实施例中，还可以在控制车辆进入防倾洒模式时在车辆的中控显示屏上显示“车辆已进入防倾洒模式”的提示信息，以提示驾驶员当前由车辆的行驶控制参数控制车辆的行驶。在车辆包含多个显示屏时，其还可以在多个显示屏中显示“车辆已进入防倾洒模式”的提示信息，在另一个实施例中，还可以根据第一车辆内部图像确定发生饮用行为信息的车辆内部人物的位置信息，进而在该位置信息对应的显示屏中显示该提示信息。可选地，在本申请实施例中，车辆还可接受车辆内部人物基于显示屏的交互动作确定进入/退出防倾洒模式，提高车辆内部人物控制车辆进入/退出防倾洒模式的便捷性。Furthermore, in an embodiment of the present application, when the vehicle is controlled to enter the anti-spill mode, a prompt message "the vehicle has entered the anti-spill mode" can be displayed on the central control display screen of the vehicle to remind the driver that the vehicle's travel is currently controlled by the vehicle's travel control parameters. When the vehicle includes multiple display screens, it can also display the prompt message "the vehicle has entered the anti-spill mode" on multiple display screens. In another embodiment, the position information of the person inside the vehicle who has the drinking behavior information can be determined based on the first vehicle interior image, and then the prompt message can be displayed on the display screen corresponding to the position information. Optionally, in an embodiment of the present application, the vehicle can also accept the interaction of the person inside the vehicle to determine the entry/exit of the anti-spill mode based on the display screen, thereby improving the convenience of the person inside the vehicle controlling the vehicle to enter/exit the anti-spill mode.
下面将结合图6的具体实例，对本申请实施例提供的车辆控制方法进行详细介绍。The vehicle control method provided in the embodiment of the present application will be described in detail below with reference to the specific example of FIG. 6 .
车辆与车辆内部人物的移动终端建立连接，获取车辆内部人物在第一预设时长内使用该移动终端的购买记录。The vehicle establishes a connection with a mobile terminal of a person inside the vehicle, and obtains a purchase record of the person inside the vehicle using the mobile terminal within a first preset time period.
在一种情况下，若购买记录中未存在饮品信息，则通过拍摄装置获取第一车辆内部图像，基于第一车辆内部图像确定车辆内部人物的第一行为信息为饮用行为信息，则获取车辆的行驶速度，若车辆的行驶速度大于零，则控制车辆进入防倾洒模式；若车辆的行驶速度等于零，则获取车辆的外部环境信息，若基于外部环境信息确定车辆存在碰撞风险，则控制车辆进入防倾洒模式，若确定车辆不存在碰撞风险，则控制防倾洒模式保持关闭。In one case, if there is no beverage information in the purchase record, a first vehicle interior image is acquired through a photographing device, and based on the first vehicle interior image, the first behavior information of the person inside the vehicle is determined to be drinking behavior information, and the vehicle's driving speed is acquired. If the vehicle's driving speed is greater than zero, the vehicle is controlled to enter an anti-spill mode. If the vehicle's driving speed is equal to zero, the vehicle's external environment information is acquired. If it is determined based on the external environment information that the vehicle is at risk of collision, the vehicle is controlled to enter an anti-spill mode. If it is determined that the vehicle is not at risk of collision, the anti-spill mode is controlled to remain off.
在另一种情况下，若购买记录中存在饮品信息，则获取开关闭合组件的开关切换状态，若开关闭合组件没有打开过，则确定车辆内部人物可能将饮品放置于后备箱或者通过外卖方式远程送达，当前没有饮用需求，进一步控制防倾洒模式保持关闭；若闭合组件有打开过，则采集第二车辆内部图像，基于第二车辆内部图像确定车辆未存在新增饮品时，确定车辆内部人物可能将饮品放置于后备箱，则控制防倾洒模式保持关闭，基于第二车辆内部图像确定车辆新增饮品时，通过拍摄装置获取第一车辆内部图像，基于第一车辆内部图像确定车辆内部人物的第一行为信息为饮用行为信息，则获取车辆的行驶速度，若车辆的行驶速度大于零，控制车辆进入防倾洒模式；若车辆的速度等于零，则获取车辆的外部环境信息，基于外部环境信息确定车辆存在碰撞风险，控制车辆进入防倾洒模式，若确定车辆不存在碰撞风险，则控制防倾洒模式保持关闭。In another case, if there is beverage information in the purchase record, the switch switching state of the switch closing component is obtained. If the switch closing component has never been opened, it is determined that the person inside the vehicle may have placed the beverage in the trunk or delivered it remotely by takeout, and there is no current demand for drinking, and the anti-spill mode is further controlled to remain closed; if the closing component has been opened, a second vehicle interior image is collected, and when it is determined based on the second vehicle interior image that no new beverages are added to the vehicle, it is determined that the person inside the vehicle may have placed the beverage in the trunk, and the anti-spill mode is controlled to remain closed. When it is determined based on the second vehicle interior image that new beverages are added to the vehicle, a first vehicle interior image is obtained through a shooting device, and it is determined based on the first vehicle interior image that the first behavior information of the person inside the vehicle is drinking behavior information, the vehicle's driving speed is obtained, and if the vehicle's driving speed is greater than zero, the vehicle is controlled to enter the anti-spill mode; if the vehicle's speed is equal to zero, the vehicle's external environment information is obtained, and based on the external environment information, it is determined that the vehicle has a collision risk, and the vehicle is controlled to enter the anti-spill mode. If it is determined that the vehicle does not have a collision risk, the anti-spill mode is controlled to remain closed.
在本申请实施例中，在根据采集到的第一车辆内部图像确定车辆内部人物的第一行为信息为饮用行为信息时，进而基于车辆的行驶速度控制车辆进入防倾洒模式，并控制车辆按照防倾洒模式对应的车辆行驶控制参数行驶，基于防倾洒模式对应的车辆行驶控制参数控制车辆的行驶，能够避免车辆出现急转弯、急刹车等导致车身发生颠簸的情况，使车辆平稳行驶，从而在车辆内部人物存在饮用行为时，达到防止饮品倾洒的效果。In an embodiment of the present application, when the first behavior information of the person inside the vehicle is determined to be drinking behavior information based on the collected first vehicle interior image, the vehicle is controlled to enter the anti-spill mode based on the vehicle's driving speed, and the vehicle is controlled to travel according to the vehicle driving control parameters corresponding to the anti-spill mode. Controlling the vehicle's travel based on the vehicle driving control parameters corresponding to the anti-spill mode can avoid situations in which the vehicle body is shaken due to sharp turns, sudden braking, etc., and allows the vehicle to travel smoothly, thereby achieving the effect of preventing drinks from spilling when the person inside the vehicle is drinking.
基于图1的系统架构，下面将结合图7-图9，对本申请实施例提供的车辆控制装置进行详细介绍。需要说明的是，图7-图9中的车辆控制装置，用于执行本申请图2-图6所示实施例的方法，为了便于说明，仅示出了与本申请实施例相关的部分，具体技术细节未揭示的，请参照本申请图2-图6所示的实施例。Based on the system architecture of FIG1 , the vehicle control device provided in the embodiment of the present application will be described in detail below in combination with FIG7 to FIG9 . It should be noted that the vehicle control device in FIG7 to FIG9 is used to execute the method of the embodiment shown in FIG2 to FIG6 of the present application. For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the embodiment shown in FIG2 to FIG6 of the present application.
如图7所示的车辆控制装置，装置包括：图像获取单元11、车速获取单元12、参数获取单元13以及行驶控制单元14。As shown in FIG. 7 , the vehicle control device comprises: an image acquisition unit 11 , a vehicle speed acquisition unit 12 , a parameter acquisition unit 13 and a driving control unit 14 .
图像获取单元11，用于采集第一车辆内部图像，基于第一车辆内部图像确定车辆内部人物的第一行为信息；An image acquisition unit 11 is used to acquire a first vehicle interior image and determine first behavior information of a person inside the vehicle based on the first vehicle interior image;
车速获取单元12，用于若第一行为信息为饮用行为信息，则获取车辆的行驶速度；A vehicle speed acquisition unit 12, configured to acquire a vehicle speed if the first behavior information is drinking behavior information;
参数获取单元13，用于基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数；A parameter acquisition unit 13, used to control the vehicle to enter an anti-spill mode based on the vehicle's driving speed, and to acquire vehicle driving control parameters corresponding to the anti-spill mode;
行驶控制单元14，用于基于车辆行驶控制参数控制车辆的行驶。The driving control unit 14 is used to control the driving of the vehicle based on the vehicle driving control parameters.
可选地，参数获取单元13包括：第一控制子单元131、获取子单元132、Optionally, the parameter acquisition unit 13 includes: a first control subunit 131, an acquisition subunit 132,
第一控制子单元131，用于若车辆的行驶速度大于零，则控制车辆进入防倾洒模式；The first control subunit 131 is used to control the vehicle to enter an anti-spill mode if the vehicle's travel speed is greater than zero;
获取子单元132，用于在防倾洒模式下获取车辆的行驶状态，获取行驶状态对应的车辆行驶控制参数。The acquisition subunit 132 is used to acquire the driving state of the vehicle in the anti-spill mode, and acquire the vehicle driving control parameters corresponding to the driving state.
可选地，获取子单元132具体用于：Optionally, the acquiring subunit 132 is specifically configured to:
若在防倾洒模式下确定行驶速度大于预设行驶速度，则确定车辆的行驶状态为超速状态；If it is determined that the driving speed is greater than the preset driving speed in the anti-spill mode, the driving state of the vehicle is determined to be an overspeeding state;
获取超速状态对应的预设加速度参数。Get the preset acceleration parameters corresponding to the overspeed state.
可选地，获取子单元132具体用于：Optionally, the acquiring subunit 132 is specifically configured to:
在防倾洒模式下，获取车辆行驶方向前方的障碍物信息；In the anti-spill mode, obtain obstacle information in front of the vehicle's driving direction;
基于障碍物信息确定车辆的行驶状态为避让障碍物状态，获取避让障碍物状态对应的预设转向参数。Based on the obstacle information, it is determined that the driving state of the vehicle is an obstacle avoidance state, and a preset steering parameter corresponding to the obstacle avoidance state is obtained.
可选地，参数获取单元13包括：第二获取子单元133、第二控制子单元134、第三获取子单元135，Optionally, the parameter acquisition unit 13 includes: a second acquisition subunit 133, a second control subunit 134, and a third acquisition subunit 135.
第二获取子单元133，用于若车辆的行驶速度等于零，则获取车辆的外部环境信息；The second acquisition subunit 133 is used to acquire the external environment information of the vehicle if the driving speed of the vehicle is zero;
第二控制子单元134，用于若基于外部环境信息确定车辆存在碰撞风险，则控制车辆进入防倾洒模式；The second control subunit 134 is used to control the vehicle to enter an anti-spill mode if it is determined that the vehicle has a collision risk based on the external environment information;
第三获取子单元135，用于获取防倾洒模式对应的预设驻车制动参数。The third acquisition subunit 135 is used to acquire preset parking brake parameters corresponding to the anti-spill mode.
如图8所示的车辆控制装置，还装置包括：建立连接单元15、记录获取单元16、状态获取单元17、图像采集单元18以及确定单元19。The vehicle control device shown in FIG. 8 further includes: a connection establishing unit 15 , a record acquiring unit 16 , a state acquiring unit 17 , an image collecting unit 18 and a determining unit 19 .
建立连接单元15，用于建立与车辆内部人物对应的移动终端之间的连接；A connection establishing unit 15 is used to establish a connection between a mobile terminal corresponding to a person inside the vehicle;
记录获取单元16，用于获取车辆内部人物在第一预设时长内使用移动终端的购买记录；A record acquisition unit 16, used to acquire a purchase record of a person in the vehicle using a mobile terminal within a first preset time period;
状态获取单元17，用于若购买记录中存在饮品信息，则获取车辆的闭合组件的开关切换状态；A state acquisition unit 17, for acquiring a switch switching state of a closing component of the vehicle if beverage information exists in the purchase record;
图像采集单元18，用于若闭合组件的开关切换状态满足预设条件，则采集第二车辆内部图像；An image acquisition unit 18, configured to acquire a second vehicle interior image if the switch switching state of the closing component satisfies a preset condition;
确定单元19，用于若基于第二车辆内部图像确定车辆存在新增饮品，则执行采集第一车辆内部图像的步骤。The determination unit 19 is configured to execute the step of acquiring the first vehicle interior image if it is determined based on the second vehicle interior image that there is a new beverage in the vehicle.
可选地，确定单元19包括：比对子单元191、区域图像子单元192、输出结果子单元193、图像采集子单元194，Optionally, the determination unit 19 includes: a comparison subunit 191, a region image subunit 192, an output result subunit 193, and an image acquisition subunit 194.
比对子单元191，用于将第二车辆内部图像与预设图像进行比对；A comparison subunit 191, used to compare the second vehicle interior image with a preset image;
区域图像子单元192，用于在确定第二车辆内部图像与预设图像不一致时，截取第二车辆内部图像与预设图像中存在差异的区域图像；The regional image subunit 192 is used to intercept the regional image where there is a difference between the second vehicle interior image and the preset image when it is determined that the second vehicle interior image is inconsistent with the preset image;
输出结果子单元193，用于将区域图像输入预设饮品识别模型，获取预设饮品识别模型的第一输出结果；An output result subunit 193, used to input the regional image into a preset beverage recognition model to obtain a first output result of the preset beverage recognition model;
图像采集子单元194，用于若第一输出结果为车辆存在新增饮品，则执行采集第一车辆内部图像的步骤。The image acquisition subunit 194 is configured to execute the step of acquiring a first vehicle interior image if the first output result is that there is a new beverage in the vehicle.
可选地，图像获取单元11包括：确定子单元111，Optionally, the image acquisition unit 11 includes: a determination subunit 111,
确定子单元111，用于将第一车辆内部图像输入预设行为识别模型，基于预设行为识别模型的第二输出结果确定车辆内部人物的第一行为信息。The determination subunit 111 is used to input the first vehicle interior image into a preset behavior recognition model, and determine first behavior information of a person inside the vehicle based on a second output result of the preset behavior recognition model.
如图9所示的车辆控制装置，还装置包括：第三图像采集单元20、行为确定单元21、时长获取单元22、退出控制单元23，The vehicle control device shown in FIG9 further includes: a third image acquisition unit 20, a behavior determination unit 21, a duration acquisition unit 22, and an exit control unit 23.
第三图像采集单元20，用于采集第三车辆内部图像；A third image acquisition unit 20, used for acquiring a third vehicle interior image;
行为确定单元21，用于基于第三车辆内部图像确定车辆内部人物的第二行为信息；A behavior determination unit 21, configured to determine second behavior information of a person inside the vehicle based on the third vehicle interior image;
时长获取单元22，用于若第二行为信息为非饮用行为信息，则获取未检测到车辆内部人物的饮用行为信息的检测时长；The duration acquisition unit 22 is used to acquire the detection duration of the drinking behavior information of the person inside the vehicle when the second behavior information is non-drinking behavior information;
退出控制单元23，用于在检测时长达到第二预设时长，则控制车辆退出防倾洒模式。The exit control unit 23 is used to control the vehicle to exit the anti-spill mode when the detection time reaches a second preset time.
请参见图10，为本申请实施例提供了一种车辆的结构示意图。如图10所示，该车辆500包括处理器501和存储器502。其中，处理器501与存储器502电性连接。Please refer to Figure 10, which is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. As shown in Figure 10, the vehicle 500 includes a processor 501 and a memory 502. The processor 501 is electrically connected to the memory 502.
处理器501是车辆500的控制中心，可以包括一个或者多个处理核心。处理器501利用各种接口和线路连接整个车辆500的各个部分，通过运行或调用存储在存储器502内的计算机程序，以及调用存储在存储器502内的数据，执行车辆500的各种功能和处理数据，从而对车辆500进行整体管控。可选地，处理器501可以采用数字信号处理(Digital SignalProcessing，DSP)、现场可编程门阵列(Field Programmable Gate Array，FPGA)、可编程逻辑阵列(Programmable Logic Array，PLA)中的至少一种硬件形式来实现。处理器501可集成CPU、图像处理器(Graphics Processing Unit，GPU)和调制解调器等中的一种或几种的组合。其中，CPU主要处理操作系统、用户页面和应用程序等；GPU用于负责显示内容的渲染和绘制；调制解调器用于处理无线通信。可以理解的是，上述调制解调器也可以不集成到处理器501中，单独通过一块通信芯片进行实现。The processor 501 is the control center of the vehicle 500 and may include one or more processing cores. The processor 501 uses various interfaces and lines to connect various parts of the entire vehicle 500, and executes various functions and processes data of the vehicle 500 by running or calling computer programs stored in the memory 502, and calling data stored in the memory 502, so as to control the vehicle 500 as a whole. Optionally, the processor 501 can be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 501 may integrate one or a combination of CPU, graphics processing unit (GPU), modem, etc. Among them, the CPU mainly processes the operating system, user pages, and applications; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 501, but may be implemented separately through a communication chip.
存储器502可用于存储软件程序以及模块，处理器501通过运行存储在存储器502的计算机程序以及模块，从而执行各种功能应用以及数据处理。存储器502可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的计算机程序等；存储数据区可存储根据车辆500的使用所创建的数据等。The memory 502 can be used to store software programs and modules, and the processor 501 executes various functional applications and data processing by running the computer programs and modules stored in the memory 502. The memory 502 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, a computer program required for at least one function, etc.; the data storage area can store data created according to the use of the vehicle 500, etc.
此外，存储器502可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器502还可以包括存储器控制器，以提供处理器501对存储器502的访问。In addition, the memory 502 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 502 may also include a memory controller to provide the processor 501 with access to the memory 502.
在本实施例中，车辆500中的处理器501会按照如下步骤将一个或一个以上的计算机程序的进程对应的指令加载到存储器502中，并由处理器501来运行存储在存储器502中的计算机程序，从而实现各种功能，如下：In this embodiment, the processor 501 in the vehicle 500 loads instructions corresponding to the processes of one or more computer programs into the memory 502 according to the following steps, and the processor 501 runs the computer program stored in the memory 502 to implement various functions, as follows:
采集第一车辆内部图像，基于第一车辆内部图像确定车辆内部人物的第一行为信息；Acquire a first vehicle interior image, and determine first behavior information of a person inside the vehicle based on the first vehicle interior image;
若第一行为信息为饮用行为信息，则获取车辆的行驶速度；If the first behavior information is drinking behavior information, obtaining the driving speed of the vehicle;
基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数；Controlling the vehicle to enter an anti-spill mode based on the vehicle's driving speed, and obtaining vehicle driving control parameters corresponding to the anti-spill mode;
基于车辆行驶控制参数控制车辆的行驶。The travel of the vehicle is controlled based on the vehicle travel control parameter.
可选的，处理器501在执行基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数时，具体执行：Optionally, when the processor 501 controls the vehicle to enter the anti-dumping mode based on the vehicle's driving speed and obtains the vehicle driving control parameters corresponding to the anti-dumping mode, it specifically executes:
若车辆的行驶速度大于零，则控制车辆进入防倾洒模式；If the vehicle's speed is greater than zero, the vehicle is controlled to enter an anti-spill mode;
在防倾洒模式下获取车辆的行驶状态，获取行驶状态对应的车辆行驶控制参数。The driving state of the vehicle is obtained in the anti-spill mode, and the vehicle driving control parameters corresponding to the driving state are obtained.
可选的，处理器501在执行在防倾洒模式下获取车辆的行驶状态，获取行驶状态对应的车辆行驶控制参数时，具体执行：Optionally, when the processor 501 obtains the driving state of the vehicle in the anti-spill mode and obtains the vehicle driving control parameters corresponding to the driving state, the processor 501 specifically executes:
若在防倾洒模式下确定行驶速度大于预设行驶速度，则确定车辆的行驶状态为超速状态；If it is determined that the driving speed is greater than the preset driving speed in the anti-spill mode, the driving state of the vehicle is determined to be an overspeeding state;
获取超速状态对应的预设加速度参数；Obtain the preset acceleration parameters corresponding to the overspeed state;
处理器501在执行基于车辆行驶控制参数控制车辆的行驶时，具体执行：When the processor 501 controls the driving of the vehicle based on the vehicle driving control parameters, it specifically executes:
基于预设加速度参数控制车辆降低行驶速度，直至行驶速度小于或等于预设行驶速度。The vehicle is controlled to reduce the driving speed based on the preset acceleration parameter until the driving speed is less than or equal to the preset driving speed.
可选的，处理器501在执行在防倾洒模式下获取车辆的行驶状态，获取行驶状态对应的车辆行驶控制参数时，具体执行：Optionally, when the processor 501 obtains the driving state of the vehicle in the anti-spill mode and obtains the vehicle driving control parameters corresponding to the driving state, the processor 501 specifically executes:
在防倾洒模式下，获取车辆行驶方向前方的障碍物信息；In the anti-spill mode, obtain obstacle information in front of the vehicle's driving direction;
基于障碍物信息确定车辆的行驶状态为避让障碍物状态，获取避让障碍物状态对应的预设转向参数Determine the vehicle's driving state as an obstacle avoidance state based on the obstacle information, and obtain the preset steering parameters corresponding to the obstacle avoidance state
处理器501在执行基于车辆行驶控制参数控制车辆的行驶时，具体执行：When the processor 501 controls the driving of the vehicle based on the vehicle driving control parameters, it specifically executes:
基于预设转向参数控制车辆避让障碍物信息对应的障碍物。The vehicle is controlled to avoid obstacles corresponding to the obstacle information based on preset steering parameters.
可选的，处理器501在执行基于车辆的行驶速度控制车辆进入防倾洒模式，获取防倾洒模式对应的车辆行驶控制参数时，具体执行：Optionally, when the processor 501 controls the vehicle to enter the anti-dumping mode based on the vehicle's driving speed and obtains the vehicle driving control parameters corresponding to the anti-dumping mode, it specifically executes:
若车辆的行驶速度等于零，则获取车辆的外部环境信息；If the vehicle's driving speed is zero, the vehicle's external environment information is obtained;
若基于外部环境信息确定车辆存在碰撞风险，则控制车辆进入防倾洒模式；If the vehicle is determined to be at risk of collision based on external environmental information, the vehicle is controlled to enter an anti-spill mode;
获取防倾洒模式对应的预设驻车制动参数；Obtaining preset parking brake parameters corresponding to the anti-spill mode;
处理器501在执行基于车辆行驶控制参数控制车辆的行驶时，具体执行：When the processor 501 controls the driving of the vehicle based on the vehicle driving control parameters, it specifically executes:
基于预设驻车制动参数控制车辆的行驶速度为零。The vehicle's travel speed is controlled to zero based on preset parking brake parameters.
可选的，处理器501在执行采集第一车辆内部图像之前，还可以执行：Optionally, before acquiring the first vehicle interior image, the processor 501 may further execute:
建立与车辆内部人物对应的移动终端之间的连接；Establishing a connection between a mobile terminal corresponding to a person inside the vehicle;
获取车辆内部人物在第一预设时长内使用移动终端的购买记录；Obtaining purchase records of the person in the vehicle using the mobile terminal within a first preset time period;
若购买记录中存在饮品信息，则获取车辆的闭合组件的开关切换状态；If there is beverage information in the purchase record, the switch status of the closing component of the vehicle is obtained;
若闭合组件的开关切换状态满足预设条件，则采集第二车辆内部图像；If the switch switching state of the closing component meets the preset condition, collecting the second vehicle interior image;
若基于第二车辆内部图像确定车辆存在新增饮品，则执行采集第一车辆内部图像的步骤。If it is determined based on the second vehicle interior image that there is a new beverage in the vehicle, the step of capturing the first vehicle interior image is performed.
可选的，处理器501在执行若基于第二车辆内部图像确定车辆存在新增饮品，则执行采集第一车辆内部图像的步骤时，具体执行：Optionally, when executing the step of acquiring the first vehicle interior image if it is determined based on the second vehicle interior image that there is a new beverage in the vehicle, the processor 501 specifically performs:
将第二车辆内部图像与预设图像进行比对；comparing the second vehicle interior image with the preset image;
在确定第二车辆内部图像与预设图像不一致时，截取第二车辆内部图像与预设图像中存在差异的区域图像；When it is determined that the second vehicle interior image is inconsistent with the preset image, intercepting an image of a region where the second vehicle interior image is different from the preset image;
将区域图像输入预设饮品识别模型，获取预设饮品识别模型的第一输出结果；Inputting the regional image into a preset beverage recognition model to obtain a first output result of the preset beverage recognition model;
若第一输出结果为车辆存在新增饮品，则执行采集第一车辆内部图像的步骤。If the first output result is that there is a new beverage in the vehicle, the step of capturing a first vehicle interior image is executed.
可选的，处理器501在执行基于第一车辆内部图像确定车辆内部人物的第一行为信息时，具体执行：Optionally, when the processor 501 determines the first behavior information of the person inside the vehicle based on the first vehicle interior image, the processor 501 specifically performs:
将第一车辆内部图像输入预设行为识别模型，基于预设行为识别模型的第二输出结果确定车辆内部人物的第一行为信息。The first vehicle interior image is input into a preset behavior recognition model, and first behavior information of a person inside the vehicle is determined based on a second output result of the preset behavior recognition model.
可选的，处理器501在执行基于车辆行驶控制参数控制车辆的行驶之后，还可以执行：Optionally, after executing the control of the vehicle's driving based on the vehicle driving control parameters, the processor 501 may further execute:
采集第三车辆内部图像；collecting an interior image of a third vehicle;
基于第三车辆内部图像确定车辆内部人物的第二行为信息；Determining second behavior information of a person inside the vehicle based on the third vehicle interior image;
若第二行为信息为非饮用行为信息，则获取未检测到车辆内部人物的饮用行为信息的检测时长；If the second behavior information is non-drinking behavior information, obtaining a detection time duration during which no drinking behavior information of the person inside the vehicle is detected;
在检测时长达到第二预设时长，则控制车辆退出防倾洒模式。When the detection time reaches a second preset time, the vehicle is controlled to exit the anti-spill mode.
在本申请实施例中，在根据采集到的第一车辆内部图像确定车辆内部人物的第一行为信息为饮用行为信息时，进而基于车辆的行驶速度控制车辆进入防倾洒模式，并控制车辆按照防倾洒模式对应的车辆行驶控制参数行驶，基于防倾洒模式对应的车辆行驶控制参数控制车辆的行驶，能够避免车辆出现急转弯、急刹车等导致车身发生颠簸的情况，使车辆平稳行驶，从而在车辆内部人物存在饮用行为时，达到防止饮品倾洒的效果。In an embodiment of the present application, when the first behavior information of the person inside the vehicle is determined to be drinking behavior information based on the collected first vehicle interior image, the vehicle is controlled to enter the anti-spill mode based on the vehicle's driving speed, and the vehicle is controlled to travel according to the vehicle driving control parameters corresponding to the anti-spill mode. Controlling the vehicle's travel based on the vehicle driving control parameters corresponding to the anti-spill mode can avoid situations in which the vehicle body is shaken due to sharp turns, sudden braking, etc., and allows the vehicle to travel smoothly, thereby achieving the effect of preventing drinks from spilling when the person inside the vehicle is drinking.
请参见图11，为本申请实施例提供了一种车辆的结构示意图。如图11所示，该车辆500包括：处理器501、存储器502、显示屏503、摄像组件504、音频电路505、传感器506以及电源507。其中，处理器501分别与显示器503、摄像组件504、音频电路505、传感器506以及电源507电性连接。Please refer to Figure 11, which is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. As shown in Figure 11, the vehicle 500 includes: a processor 501, a memory 502, a display screen 503, a camera component 504, an audio circuit 505, a sensor 506, and a power supply 507. The processor 501 is electrically connected to the display 503, the camera component 504, the audio circuit 505, the sensor 506, and the power supply 507, respectively.
显示屏503可用于显示由用户输入的信息或提供给用户的信息以及车辆500的各种图形用户接口，这些图形用户接口可以由图像、文本、图标、视频和其任意组合来构成。The display screen 503 may be used to display information input by a user or information provided to a user and various graphical user interfaces of the vehicle 500 , which may be composed of images, texts, icons, videos, and any combination thereof.
摄像组件504可以包括图像处理电路，图像处理电路可以利用硬件和/或软件组件实现，可包括定义图像信号处理(Image Signal Processing)管线的各种处理模块。图像处理电路至少可以包括：多个摄像头、图像信号处理器(Image Signal Processor，ISP处理器)、控制逻辑器以及图像存储器等。其中每个摄像头至少可以包括一个或多个透镜和图像传感器。图像传感器可包括色彩滤镜阵列(如Bayer滤镜)。图像传感器可获取用图像传感器的每个成像像素捕捉的光强度和波长信息，并提供可由图像信号处理器处理的一组原始图像数据。The camera assembly 504 may include an image processing circuit, which may be implemented using hardware and/or software components and may include various processing modules that define an image signal processing pipeline. The image processing circuit may include at least: multiple cameras, an image signal processor (ISP processor), a control logic, and an image memory, etc. Each camera may include at least one or more lenses and an image sensor. The image sensor may include a color filter array (such as a Bayer filter). The image sensor may obtain light intensity and wavelength information captured by each imaging pixel of the image sensor, and provide a set of raw image data that can be processed by an image signal processor.
音频电路505可以用于通过扬声器、传声器提供用户与车辆500之间的音频接口。其中，音频电路505包括麦克风。麦克风与处理器501电性连接。麦克风用于接收用户输入的语音信息。The audio circuit 505 can be used to provide an audio interface between the user and the vehicle 500 through a speaker and a microphone. The audio circuit 505 includes a microphone. The microphone is electrically connected to the processor 501. The microphone is used to receive voice information input by the user.
传感器506用于采集车辆500自身的信息或者用户的信息或者外部环境信息。例如，传感器506可以包括震动传感器、温度传感器、距离传感器、磁场传感器、光线传感器、加速度传感器、指纹传感器、霍尔传感器、位置传感器、陀螺仪、惯性传感器、姿态感应器、气压计、心率传感器等传感器中的一种或多种。The sensor 506 is used to collect information about the vehicle 500 itself, the user, or the external environment. For example, the sensor 506 may include one or more sensors such as a vibration sensor, a temperature sensor, a distance sensor, a magnetic field sensor, a light sensor, an acceleration sensor, a fingerprint sensor, a Hall sensor, a position sensor, a gyroscope, an inertial sensor, a posture sensor, a barometer, and a heart rate sensor.
电源507用于给车辆500的各个部件供电。在一些实施例中，电源507可以通过电源管理系统与处理器501逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。The power supply 507 is used to supply power to various components of the vehicle 500. In some embodiments, the power supply 507 may be logically connected to the processor 501 through a power management system, so that the power management system can manage charging, discharging, power consumption, and other functions.
应理解，本申请实施例提供的装置用于执行上述一种车辆控制的方法，因此可以达到与上述实现方法相同的效果。It should be understood that the device provided in the embodiment of the present application is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.
在采用集成的模块的情况下，该装置可以包括处理模块、存储模块。其中，当该装置应用于车辆上时，处理模块可以用于对车辆的动作进行控制管理。存储模块可以用于支持车辆执行相关的程序代码等。In the case of using an integrated module, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes, etc.
其中，处理模块可以是处理器或控制器，其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框，模块和电路。处理器也可以是实现计算功能的组合，例如包括一个或多个微处理器组合，数字信号处理(digital signal processing，DSP)和微处理器的组合等等，存储模块可以是存储器。The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.
另外，本申请实施例提供的装置具体可以是芯片、组件或模块，该芯片可包括相连的处理器和存储器；其中，存储器用于存储指令，当处理器调用并执行指令时，可以使芯片执行上述实施例提供的一种车辆控制方法。In addition, the device provided in the embodiment of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.
本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序代码，当该计算机程序代码在计算机上运行时，使得计算机执行上述相关方法步骤实现上述实施例提供的一种车辆控制方法。An embodiment of the present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment.
本实施例还提供了一种计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述相关步骤，以实现上述实施例提供的一种车辆控制方法。This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method provided by the above embodiment.
其中，本实施例提供的装置、计算机可读存储介质、计算机程序产品或芯片均用于执行上文所提供的对应的方法，因此，其所能达到的有益效果可参考上文所提供的对应的方法中的有益效果，此处不再赘述。Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.
通过以上实施方式的描述，所属领域的技术人员可以了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.
在本申请所提供的实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，模块或模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个装置，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the modules or the division of modules are only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.
以上内容，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410601718.XACN118529024A (en) | 2024-05-15 | 2024-05-15 | Vehicle control method, device, vehicle and storage medium |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410601718.XACN118529024A (en) | 2024-05-15 | 2024-05-15 | Vehicle control method, device, vehicle and storage medium |
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| CN118529024Atrue CN118529024A (en) | 2024-08-23 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410601718.XAPendingCN118529024A (en) | 2024-05-15 | 2024-05-15 | Vehicle control method, device, vehicle and storage medium |
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| CN (1) | CN118529024A (en) |
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