CN112277948B - Method and device for controlling vehicle, storage medium and electronic equipment - Google Patents
Method and device for controlling vehicle, storage medium and electronic equipment Download PDFInfo
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- 239000010865 sewage Substances 0.000 description 9
- 239000000428 dust Substances 0.000 description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The present disclosure relates to the field of controlling vehicles, and in particular, to a method, an apparatus, a storage medium, and an electronic device for controlling a vehicle. The vehicle can obtain the environmental data of the environment where the vehicle to be controlled is located during the running process; determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environmental data; under the condition that the target vehicle is determined to exist, acquiring running parameters respectively corresponding to the vehicle to be controlled and the target vehicle; determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period or not according to the driving parameters and the environmental data; and under the condition that the target vehicle and the vehicle to be controlled meet each other within a preset time period, controlling the vehicle to be controlled to execute the target action.
Description
Technical Field
The present disclosure relates to the field of controlling vehicles, and in particular, to a method, an apparatus, a storage medium, and an electronic device for controlling a vehicle.
Background
Along with the increasing living standard of people, the requirements of people on living environment are increased, and in order to purify urban environment, sanitation vehicles such as watering lorries, garbage trucks, sewage suction trucks and the like are more and more. The sanitation vehicle optimizes the living environment for people and brings certain trouble to the life of people. When the vehicle meets the sanitation vehicle in the driving process, if the window is not closed in time by the driver, the sanitation vehicle can bring negative effects to the driver and passengers in the vehicle, for example, the water vapor of a sprinkler can bring external dust into the vehicle, the garbage truck can generate peculiar smell and the like, and the complaint of the driver and the passengers in the vehicle is caused. Such problems should be more intelligently circumvented for future unmanned vehicles. But at present, the sanitation vehicle can be identified only by a driver, and then the vehicle is controlled to avoid negative effects, and no intelligent system is provided for solving the problems.
Disclosure of Invention
According to a first aspect of embodiments of the present disclosure, there is provided a method of controlling a vehicle, the method comprising: acquiring environmental data of an environment where a vehicle to be controlled is located; determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data; under the condition that the target vehicle is determined to exist, acquiring running parameters respectively corresponding to the vehicle to be controlled and the target vehicle; determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period or not according to the running parameters and the environmental data; and under the condition that the target vehicle and the vehicle to be controlled meet each other within the preset time period, controlling the vehicle to be controlled to execute the target action.
Optionally, the environmental data comprises audio data or an environmental image; the determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data comprises:
determining whether a preset audio is received or not according to the audio data, and determining that the target vehicle exists in the preset area under the condition that the preset audio is determined to be received; alternatively, the first and second electrodes may be,
and determining whether a preset image is included in the environment image, and determining that the target vehicle exists in the preset area under the condition that the preset image is included.
Optionally, the environmental data comprises audio data and an environmental image; the determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data comprises:
determining a target weight combination from preset weight combinations according to the environment image, wherein the target weight combination comprises a first preset weight corresponding to the audio data and a second preset weight corresponding to the environment image;
performing feature matching on the audio data and the preset audio to obtain a first matching degree;
performing feature matching on the environment image and the preset image to obtain a second matching degree;
determining a target matching degree according to the target weight combination, the first matching degree and the second matching degree;
and determining that the target vehicle exists in a preset area around the vehicle to be controlled under the condition that the target matching degree is greater than or equal to a preset matching degree threshold value.
Optionally, the environment data includes first image data of a lane line of a first lane in which the vehicle to be controlled is located, and second image data of a lane line of a second lane in which the target vehicle is located; the driving parameters comprise driving speed and driving direction; the determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the driving parameters and the environment data comprises:
determining a horizontal distance of the first lane from the second lane from the first image data and the second image data;
and determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the horizontal distance, the running speed and the running direction.
Optionally, the determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the horizontal distance, the driving speed and the driving direction includes:
determining whether the target vehicle and the vehicle to be controlled move in the same direction according to the driving direction under the condition that the horizontal distance is smaller than or equal to a preset distance threshold, and determining that the target vehicle and the vehicle to be controlled meet in a preset time period under the condition that the target vehicle and the vehicle to be controlled move in the same direction;
under the condition that the target vehicle and the vehicle to be controlled run in the same direction, if the running speed meets a preset meeting condition, determining that the target vehicle and the vehicle to be controlled meet in a preset time period;
wherein the preset meeting condition comprises:
in the case where the vehicle to be controlled is located in front of the target vehicle, the traveling speed of the target vehicle is greater than the traveling speed of the vehicle to be controlled; alternatively, the first and second electrodes may be,
in a case where the vehicle to be controlled is located rearward of the target vehicle, the traveling speed of the target vehicle is smaller than the traveling speed of the vehicle to be controlled.
Optionally, before determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the driving parameters and the environment data, the method further includes:
determining whether the vehicle to be controlled enters a lane where the target vehicle is located or an adjacent lane according to the first image data, the second image data and the driving direction of the vehicle to be controlled;
the determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the driving parameters and the environment data comprises:
and under the condition that the vehicle to be controlled enters the lane where the target vehicle is located or the adjacent lane, determining whether the target vehicle and the vehicle to be controlled meet in a preset time period or not according to the running speed and the running direction.
Optionally, before controlling the vehicle to be controlled to execute the target action in the case that it is determined that the target vehicle and the vehicle to be controlled meet each other within the preset time period, the method further includes:
acquiring a vertical distance between the vehicle to be controlled and the target vehicle in the driving direction;
determining the meeting time of the target vehicle and the vehicle to be controlled according to the vertical distance and the running speed;
determining action execution time according to the meeting time;
the controlling the vehicle to be controlled to execute the target action under the condition that the target vehicle and the vehicle to be controlled meet each other within the preset time period comprises the following steps:
and under the condition that the target vehicle and the vehicle to be controlled meet each other within the preset time period, if the current time reaches the action execution time, controlling the vehicle to be controlled to execute the target action.
Optionally, the target action includes controlling a skylight and a window of the vehicle to be controlled to be closed, or controlling the vehicle to be controlled to output prompt information, where the prompt information is used to prompt that the target vehicle exists around the vehicle to be controlled.
Optionally, before the vehicle to be controlled performs the target action, the method further includes:
determining a target position of the target vehicle according to the environmental data under the condition that the target vehicle is a preset type of sanitation vehicle;
determining a target window corresponding to the target position on the vehicle to be controlled;
the control of the vehicle to be controlled to execute the target action comprises the following steps:
and controlling the skylight and the target window to be closed.
According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for controlling a vehicle, the apparatus including:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring environmental data of the environment where a vehicle to be controlled is located;
the first determining module is used for determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data;
the second acquisition module is used for acquiring running parameters respectively corresponding to the vehicle to be controlled and the target vehicle under the condition that the target vehicle is determined to exist;
the second determining module is used for determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the running parameters and the environment data;
and the execution module is used for controlling the vehicle to be controlled to execute the target action under the condition that the target vehicle and the vehicle to be controlled meet in the preset time period.
Optionally, the environmental data comprises audio data or an environmental image; the first determining module is used for determining whether a preset audio is received according to the audio data, and determining that the target vehicle exists in the preset area under the condition that the preset audio is determined to be received; alternatively, the first and second electrodes may be,
and determining whether a preset image is included in the environment image, and determining that the target vehicle exists in the preset area under the condition that the preset image is included.
Optionally, the environmental data comprises audio data and an environmental image; the first determination module is to:
determining a target weight combination from preset weight combinations according to the environment image, wherein the target weight combination comprises a first preset weight corresponding to the audio data and a second preset weight corresponding to the environment image;
performing feature matching on the audio data and the preset audio to obtain a first matching degree;
performing feature matching on the environment image and the preset image to obtain a second matching degree;
determining a target matching degree according to the target weight combination, the first matching degree and the second matching degree;
and determining that the target vehicle exists in a preset area around the vehicle to be controlled under the condition that the target matching degree is greater than or equal to a preset matching degree threshold value.
Optionally, the environment data includes first image data of a lane line of a first lane in which the vehicle to be controlled is located, and second image data of a lane line of a second lane in which the target vehicle is located; the driving parameters comprise driving speed and driving direction; the second determination module is to:
determining a horizontal distance of the first lane from the second lane from the first image data and the second image data;
and determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the horizontal distance, the running speed and the running direction.
Optionally, the second determining module is further configured to:
determining whether the target vehicle and the vehicle to be controlled move in the same direction according to the driving direction under the condition that the horizontal distance is smaller than or equal to a preset distance threshold, and determining that the target vehicle and the vehicle to be controlled meet in a preset time period under the condition that the target vehicle and the vehicle to be controlled move in the same direction;
under the condition that the target vehicle and the vehicle to be controlled run in the same direction, if the running speed meets a preset meeting condition, determining that the target vehicle and the vehicle to be controlled meet in a preset time period;
wherein the preset meeting condition comprises:
in the case where the vehicle to be controlled is located in front of the target vehicle, the traveling speed of the target vehicle is greater than the traveling speed of the vehicle to be controlled; alternatively, the first and second electrodes may be,
in a case where the vehicle to be controlled is located rearward of the target vehicle, the traveling speed of the target vehicle is smaller than the traveling speed of the vehicle to be controlled.
Optionally, the apparatus further comprises:
the third determining module is used for determining whether the vehicle to be controlled enters the lane where the target vehicle is located or an adjacent lane according to the first image data, the second image data and the driving direction of the vehicle to be controlled;
the second determining module is used for determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the running speed and the running direction under the condition that the vehicle to be controlled enters the lane where the target vehicle is located or the adjacent lane.
Optionally, the apparatus further comprises:
the third acquisition module is used for acquiring the vertical distance between the vehicle to be controlled and the target vehicle in the driving direction;
the fourth determining module is used for determining the meeting time of the target vehicle and the vehicle to be controlled according to the vertical distance and the running speed, and determining the action execution time according to the meeting time;
the execution module is used for controlling the vehicle to be controlled to execute the target action if the current time reaches the action execution time under the condition that the target vehicle and the vehicle to be controlled meet in the preset time period.
Optionally, the target action includes controlling a skylight and a window of the vehicle to be controlled to be closed, or controlling the vehicle to be controlled to output prompt information, where the prompt information is used to prompt that the target vehicle exists around the vehicle to be controlled.
Optionally, the apparatus further comprises:
the fifth determining module is used for determining the target position of the target vehicle according to the environmental data under the condition that the target vehicle is a preset type of sanitation vehicle; determining a target window corresponding to the target position on the vehicle to be controlled;
and the execution module is used for controlling the skylight and the target window to be closed.
According to a third aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect of the present disclosure.
According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of the first aspect of the disclosure.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: acquiring environmental data of an environment where a vehicle to be controlled is located; determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data; under the condition that the target vehicle is determined to exist, acquiring running parameters respectively corresponding to the vehicle to be controlled and the target vehicle; determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period or not according to the running parameters and the environmental data; under the condition that the target vehicle and the vehicle to be controlled meet in the preset time period, the vehicle to be controlled is controlled to execute the target action, for example, the target vehicle can be a sanitation vehicle, and under the condition that the vehicle to be controlled and the sanitation vehicle meet in the preset time period, the negative effects of water vapor, peculiar smell and the like brought by the sanitation vehicle can be reduced by reminding the driver or automatically closing the vehicle window, so that the living environment is optimized, and the better driving experience is brought to the driver and passengers in the vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a first method of controlling a vehicle according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating a second method of controlling a vehicle according to an exemplary embodiment;
FIG. 3 is a block diagram illustrating a first apparatus for controlling a vehicle in accordance with an exemplary embodiment;
fig. 4 is a block diagram of a second apparatus for controlling a vehicle according to the embodiment shown in fig. 3;
FIG. 5 is a block diagram of a third apparatus for controlling a vehicle according to the embodiment shown in FIG. 3;
FIG. 6 is a block diagram showing a fourth apparatus for controlling a vehicle according to the embodiment shown in FIG. 3;
FIG. 7 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Firstly, an application scene of the disclosure is explained, when a vehicle encounters sanitation vehicles such as a sprinkler, a garbage truck and a sewage suction truck in a driving process, if a driver does not close a window in time, water vapor of the sprinkler brings outside dust into the vehicle, or the sewage suction truck of the garbage truck generates peculiar smell and the like, so that bad driving experience is brought to the driver and passengers in the vehicle, and the complaint of the driver and the passengers in the vehicle is caused.
In order to solve the existing problems, the present disclosure provides a method, an apparatus, a storage medium, and an electronic device for controlling a vehicle, which may acquire environmental data of the vehicle to be controlled through a microphone and/or a camera mounted on the vehicle to be controlled, so as to determine whether a target vehicle exists around the vehicle to be controlled; the camera can use a driving recorder and a rear streaming media camera which are installed on a vehicle to be controlled under the condition of no additional installation; the microphones are at least arranged on four sides of a vehicle to be controlled to form a planar array, the number of the planar arrays is not fixed, and different numbers are added according to the identification precision required; if the target vehicle exists, judging whether the target vehicle and the vehicle to be controlled meet each other within a preset time period by acquiring the driving direction and the driving speed of the vehicle to be controlled and the target vehicle respectively and combining environmental data; and controlling the vehicle to be controlled to execute the target action when the two vehicles meet each other within the preset time period. For example, when the target vehicle is a sanitation vehicle and it is determined that the vehicle to be controlled and the sanitation vehicle meet each other within a future preset time period, the driver is prompted and/or windows and skylights at corresponding positions are automatically closed, so that negative effects on passengers in the vehicle caused by dirty water and peculiar smell of the sanitation vehicle are avoided, and the driving experience of a user is improved.
The present disclosure will be described in detail with reference to specific examples.
Fig. 1 is a flowchart illustrating a method of controlling a vehicle, applied to a vehicle to be controlled, according to an exemplary embodiment, the method including the steps of:
in step 101, environmental data of an environment in which a vehicle to be controlled is located is acquired.
The vehicle to be controlled is a vehicle to be subjected to prompt of a driver or automatic window closing operation, the environment data comprises audio data or environment images, the audio data can be music sound collected by a microphone mounted on the vehicle to be controlled, and the environment images can be vehicle images and/or lane and traffic flow images shot by a camera mounted on the vehicle to be controlled; the user can acquire audio data through a microphone arranged on the vehicle and acquire an environment image through a camera arranged on the vehicle, so that environment data such as a lane where the vehicle is located, the traffic flow around the vehicle, the vehicle type of a target vehicle and the like can be determined, and the target vehicle can comprise any sanitation vehicle such as a sprinkler, a garbage truck, a dust removal truck, a sewage suction truck and the like.
In step 102, whether a target vehicle exists in a preset area around the vehicle to be controlled is determined according to the environment data.
The preset area refers to a range within which information can be acquired by a camera and a microphone mounted on a vehicle to be controlled. The target vehicle may include sanitation vehicles such as a sprinkler, a garbage truck, a dust removal truck, and a sewage suction truck, and in addition to the target vehicle, it may be determined whether a target station exists in a preset area around the vehicle to be controlled according to the environmental data, where the target station may be a garbage station.
In this step, the acquired audio data may be compared with a preset audio, and it is determined that a sanitation vehicle exists in the preset area when it is determined that the preset audio is received. The preset audio is music emitted by the sanitation vehicle during working, and all music is added into a preset audio comparison library in advance according to the possibility that the music played by different sanitation vehicles in cities during working is different. In addition, the acquired environment image can be compared with a preset image, and the target vehicle or the target station is determined to exist in the preset area under the condition that the preset image is determined to be included.
In addition, in this step, a target weight combination may be determined from preset weight combinations according to the acquired environment image, where the target weight combination includes a first preset weight W corresponding to the audio data1Second preset weight W corresponding to the environment image2. Matching and comparing the acquired audio data with preset audio data to obtain a first matching degree a1(ii) a Environmental map to be acquiredMatching and comparing the image with preset image data to obtain a second matching degree a2. When the camera installed on the vehicle to be controlled is not shielded and can clearly acquire the appearance characteristics of the target vehicle and accurately identify the appearance characteristics, W2>W1(ii) a Otherwise, W2<W1. Obtaining a target matching degree P determined according to the target weight combination, the first matching degree and the second matching degree, wherein P is W1a1+W2a2. And when the target matching degree P is greater than or equal to a preset matching degree threshold value L, namely P is greater than or equal to L, determining that the target vehicle exists in a preset area around the vehicle to be controlled.
In step 103, in the case where it is determined that the target vehicle exists, the running parameters respectively corresponding to the vehicle to be controlled and the target vehicle are acquired.
The driving parameters comprise driving speed and driving direction, and the driving parameters CAN be acquired through a vehicle CAN signal.
In step 104, it is determined whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the driving parameters and the environmental data.
The environment data may further include first image data of a lane line of a first lane in which the vehicle to be controlled is located, and second image data of a lane line of a second lane in which the target vehicle is located.
In the step, the horizontal distance between the first lane where the vehicle to be controlled is located and the second lane where the target vehicle is located is determined according to the first image data and the second image data, and whether the target vehicle and the vehicle to be controlled meet each other within a preset time period is determined according to the horizontal distance, the driving speed and the driving direction.
In step 105, the vehicle to be controlled is controlled to execute the target action under the condition that the target vehicle and the vehicle to be controlled meet in the preset time period.
The target action comprises controlling a skylight and a window of the vehicle to be controlled to be closed, or controlling the vehicle to be controlled to output prompt information, wherein the prompt information is used for prompting that the target vehicle exists around the vehicle to be controlled. Besides, the target action can be to control the vehicle to be controlled to output prompt information and automatically close the window and the skylight at the same time.
When the type of the target vehicle is a sprinkler, a dust removal vehicle and the like, which only affect a sanitation vehicle on one side of the vehicle, the target window can be a window at the position of the target vehicle. For example, if the target vehicle is on the left side of the vehicle to be controlled, the left window and the skylight are controlled to be automatically closed; and if the target vehicle is on the right side of the vehicle to be controlled, controlling the right window and the skylight to be automatically closed.
In addition, when the type of the target vehicle is a garbage truck, a sewage suction truck and other target vehicles which can generate peculiar smell, the target vehicle window can be all vehicle windows of the vehicle to be controlled, and all vehicle windows and the skylight of the vehicle to be controlled are controlled to be closed.
By adopting the method, when the vehicle to be controlled meets the target vehicle, the driver is prompted and/or the vehicle window and the skylight at the corresponding positions are/is automatically closed, so that the negative influence of dirty water and peculiar smell of the target vehicle on passengers in the vehicle is avoided, and the driving experience of a user is improved.
FIG. 2 is a flow chart illustrating a method of controlling a vehicle, as shown in FIG. 2, including the steps of:
in step 201, environmental data of an environment in which a vehicle to be controlled is located is acquired.
The vehicle to be controlled is a vehicle to be subjected to prompt of a driver or automatic window closing operation, and the environment data may be audio data or an environment image. The audio data can be music sound collected by a microphone installed on the vehicle to be controlled, and the environment image can be a vehicle image and/or a lane and traffic flow image shot by a camera installed on the vehicle to be controlled; the user can acquire audio data through a microphone arranged on the vehicle and acquire an environment image through a camera arranged on the vehicle, so that environment data such as a lane where the vehicle is located, the traffic flow around the vehicle, the vehicle type of a target vehicle and the like can be determined, and the target vehicle can comprise any sanitation vehicle such as a sprinkler, a garbage truck, a dust removal truck, a sewage suction truck and the like.
In step 202, it is determined whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data.
The preset area refers to the range within which information can be acquired by a camera and a microphone mounted on a vehicle to be controlled. The target vehicle may include sanitation vehicles such as a sprinkler, a garbage truck, a dust removal truck, and a sewage suction truck, and in addition to the target vehicle, it may be determined whether a target station exists in a preset area around the vehicle to be controlled according to the environmental data, where the target station may be a garbage station.
In this step, the acquired audio data may be compared with a preset audio, and it is determined that a sanitation vehicle exists in the preset area when it is determined that the preset audio is received. The preset audio is music emitted by the sanitation vehicle during working, and all music is added into a preset audio comparison library in advance according to the possibility that the music played by different sanitation vehicles in cities during working is different. In addition, the acquired environment image can be compared with a preset image, and the target vehicle or the target station is determined to exist in the preset area under the condition that the preset image is determined to be included.
In addition, in this step, a target weight combination may be determined from preset weight combinations according to the acquired environment image, where the target weight combination includes a first preset weight W corresponding to the audio data1Second preset weight W corresponding to the environment image2. Matching and comparing the acquired audio data with preset audio data to obtain a first matching degree a1(ii) a Matching and comparing the acquired environment image with preset image data to obtain a second matching degree a2. When the camera installed on the vehicle to be controlled is not shielded and can clearly acquire the appearance characteristics of the target vehicle and accurately identify the appearance characteristics, W2>W1(ii) a Otherwise, W2<W1. Obtaining a target matching degree P determined according to the target weight combination, the first matching degree and the second matching degree, wherein P is W1a1+W2a2. When the target matching degree P is greater than or equal to a preset matching degree threshold value L, namely P is greater than or equal to L, determining that the target matching degree P is to be controlledAnd the target vehicle exists in a preset area around the vehicle.
In step 203, in the case where it is determined that the target vehicle exists, the running parameters respectively corresponding to the vehicle to be controlled and the target vehicle are acquired.
The driving parameters comprise driving speed and driving direction, and the driving parameters CAN be acquired through a vehicle CAN signal.
After the driving parameter is obtained, it may be determined whether the target vehicle and the vehicle to be controlled meet each other within a preset time period by performing steps S204 to S205 according to the driving parameter and the environment data, where the environment data may further include first image data of a lane line of a first lane where the vehicle to be controlled is located and second image data of a lane line of a second lane where the target vehicle is located.
In step 204, a horizontal distance between the first lane and the second lane is determined according to the first image data and the second image data.
In step 205, it is determined whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the horizontal distance, the driving speed and the driving direction.
In this step, under the condition that the horizontal distance is smaller than or equal to a preset distance threshold, determining whether the target vehicle and the vehicle to be controlled are in the same direction or not according to the driving direction, and under the condition that the target vehicle and the vehicle to be controlled are determined to be in the same direction, determining that the target vehicle and the vehicle to be controlled meet in a preset time period; under the condition that the target vehicle and the vehicle to be controlled run in the same direction, if the running speed meets a preset meeting condition, the target vehicle and the vehicle to be controlled are determined to meet in a preset time period;
wherein, the preset meeting condition comprises: under the condition that the vehicle to be controlled is positioned in front of the target vehicle, the running speed of the target vehicle is greater than that of the vehicle to be controlled; alternatively, in a case where the vehicle to be controlled is located rearward of the target vehicle, the traveling speed of the target vehicle is smaller than the traveling speed of the vehicle to be controlled.
The target vehicle is positioned in front of the target vehicle, wherein the driving direction of the two vehicles is taken as the forward direction, and the target vehicle is positioned in front of the driving direction of the target vehicle; the fact that the vehicle to be controlled is located behind the target vehicle means that the target vehicle is located behind the traveling direction of the vehicle to be controlled.
In addition, the present disclosure may also determine whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the driving parameter and the environmental data by:
determining whether the vehicle to be controlled enters the lane in which the target vehicle is located or an adjacent lane according to the first image data, the second image data and the driving direction of the vehicle to be controlled; in this way, it may be determined whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the traveling speed and the traveling direction in the case where it is determined that the vehicle to be controlled enters the lane where the target vehicle is located or an adjacent lane.
For example, when the vehicle to be controlled and the target vehicle run in the same direction, according to the comparison display of the first image data and the second image data, when the vehicle to be controlled and the target vehicle are located in adjacent straight lanes and the running directions are the same, if the target vehicle is located on the left side of the vehicle to be controlled, when a left turn signal of the vehicle to be controlled is detected through a CAN signal of the vehicle to be controlled, it CAN be determined that the vehicle to be controlled is about to enter the lane where the target vehicle is located; if the target vehicle is located on the right side of the vehicle to be controlled, when a right turn signal of the vehicle to be controlled is detected through the CAN signal of the vehicle to be controlled, it CAN be determined that the vehicle to be controlled is about to enter a lane where the target vehicle is located, which is only an example, and the disclosure does not limit this.
It should be noted that, when it is determined that the vehicle to be controlled enters the lane where the target vehicle is located or the adjacent lane, it may also be determined whether the target vehicle and the vehicle to be controlled are traveling in the same direction according to the traveling direction, and when it is determined that the target vehicle and the vehicle to be controlled are traveling in the same direction, it is determined that the target vehicle and the vehicle to be controlled meet each other within a preset time period; under the condition that the target vehicle and the vehicle to be controlled run in the same direction, if the running speed meets a preset meeting condition, the target vehicle and the vehicle to be controlled are determined to meet within a preset time period, wherein the preset meeting condition is as described above and is not described herein again.
In step 206, the vehicle to be controlled is controlled to execute the target action under the condition that the target vehicle and the vehicle to be controlled meet in the preset time period.
The target action comprises controlling a skylight and a window of a vehicle to be controlled to be closed, or controlling the vehicle to be controlled to output prompt information, wherein the prompt information is used for prompting that a target vehicle exists around the vehicle to be controlled, so that a driver can determine whether to control the vehicle to close the window or the skylight according to the prompt information, in addition, the target action can also be controlling the vehicle to be controlled to output prompt information and automatically close the window and the skylight simultaneously, and when the type of the target vehicle is a sprinkler, a dust catcher and the like which only affect a sanitation vehicle on one side of the vehicle, the target window can be a window at the position of the target vehicle. For example, if the target vehicle is on the left side of the vehicle to be controlled, the left window and the skylight are controlled to be automatically closed; and if the target vehicle is on the right side of the vehicle to be controlled, controlling the right window and the skylight to be automatically closed. In addition, when the type of the target vehicle is a garbage truck, a sewage suction truck and other target vehicles which can generate peculiar smell, the target vehicle windows can be all vehicle windows and skylights of the vehicle to be controlled, and all the vehicle windows and skylights of the vehicle to be controlled are controlled to be closed.
In addition, under the condition that the target vehicle and the vehicle to be controlled meet each other within the preset time period, before the vehicle to be controlled is controlled to execute the target action, the method can also obtain environmental data of the environment where the vehicle to be controlled is located, wherein the environmental data comprises lane and traffic flow information, and whether the vehicle to be controlled can avoid meeting the target vehicle through the preset execution action is determined according to the lane and traffic flow information, wherein the preset execution action comprises acceleration, lane change, overtaking and other operations. And when the vehicle to be controlled is determined to be prevented from meeting the target vehicle through the preset execution action, controlling the vehicle to be controlled to prompt people in the vehicle.
It should be noted that, in consideration of the practical application scenario, although it is recognized that the target vehicle exists in the preset area around the vehicle to be controlled, if the target vehicle is far away from the vehicle to be controlled at the current moment (i.e. the two vehicles meet after a period of time), in this case, it is not necessary to immediately close the window when it is determined that the two vehicles meet, so as to improve the intelligent level of vehicle control and further improve the user experience, in the case that it is determined that the target vehicle meets the vehicle to be controlled within the preset time period, before the vehicle to be controlled performs the target action, the vertical distance in the driving direction between the vehicle to be controlled and the target vehicle may be obtained, where the vertical distance may be the distance between the two vehicles in the driving direction of the vehicle, and the meeting time between the target vehicle and the vehicle to be controlled is determined according to the vertical distance and the driving speed, and then determining the action execution time according to the meeting time, so that the target vehicle and the vehicle to be controlled can meet in the preset time period, and the vehicle to be controlled can be controlled to execute the target action under the condition that the current time reaches the action execution time.
In the process of determining the meeting time of the target vehicle and the vehicle to be controlled according to the vertical distance and the running speed, the speed of the vehicle to be controlled CAN be obtained from a CAN bus of the vehicle to be controlled, and the speed of the target vehicle and the vertical distance between two vehicles CAN be obtained by using a camera and a millimeter wave radar which are arranged on the vehicle to be controlled. Suppose that the vehicle speed of the vehicle to be controlled is v1The speed of the target vehicle is v2The vertical distance between the two workshops is l:
if the vehicle to be controlled and the target vehicle run in opposite directions, the meeting time t of the two vehicles1＝l/(v1+v2)；
If the vehicle to be controlled runs in the same direction as the target vehicle, when the vehicle to be controlled is positioned behind the target vehicle, the running speed of the target vehicle is lower than that of the vehicle to be controlledWhen the vehicles run, the two vehicles meet each other at the meeting time t2＝l/(v1-v2)；
When the vehicle to be controlled is positioned in front of the target vehicle, the two vehicles meet when the running speed of the target vehicle is higher than that of the vehicle to be controlled, and meeting time t is3＝l/(v2-v1)。
After determining the encounter time, the action execution time may be determined according to the encounter time, for example, if the encounter time T1 is that two vehicles meet after 10 minutes from the current time, the action execution time may be set to be T2 after 5 minutes from the current time, which is only an example and is not limited by the present disclosure.
In this case, the relative positions of the target vehicle and the vehicle to be controlled can be determined using TDOA (Time difference of arrival) or Beamforming.
In addition, considering practical application scenarios, if the vehicle to be controlled meets the target vehicle, all windows and skylights are closed indiscriminately, so that the air circulation in the vehicle is easy to be deteriorated, and thus the passengers in the vehicle are hot or sick, based on this, before the vehicle to be controlled performs the target action, if the target vehicle is a preset type of sanitation vehicle, the position of the sanitation vehicle is determined according to TDOA or beamform, the target window corresponding to the position of the sanitation vehicle on the vehicle to be controlled is determined, the skylights and the target windows are controlled to be closed according to the type and the position of the sanitation vehicle, for example, the microphones installed around the vehicle to be controlled receive external audio data, the position of the sanitation vehicle is determined according to TDOA algorithm or beam forming method through the audio data intensity of the microphones in each direction, and then can confirm this vehicle of waiting to control and the target door window that sanitation vehicle position corresponds to realize only controlling skylight and the target door window that sanitation vehicle position corresponds and close when meeting. Thus, the negative influence on passengers in the vehicle caused by indiscriminate closing of all windows and skylights can be avoided.
In step 207, the target vehicle is controlled to return to its original state after the target action is performed.
The restoring comprises restoring the automatically closed vehicle window and/or skylight to the original state. In this step, if the vehicle to be controlled runs in the same direction as the target vehicle, the windows and/or the skylight are restored when the target vehicle cannot be detected by the camera mounted on the vehicle to be controlled. In addition, if the vehicle to be controlled runs opposite to the target vehicle, the windows and/or the skylight of the vehicle to be controlled are restored after a preset time.
By adopting the method, when the vehicle to be controlled meets the target vehicle, the driver is prompted and/or the vehicle window and the skylight at the corresponding positions are/is automatically closed, so that the negative influence of dirty water and peculiar smell of the target vehicle on passengers in the vehicle is avoided, and the driving experience of a user is improved.
Fig. 3 is a block diagram illustrating a first apparatus for controlling a vehicle according to an exemplary embodiment, applied to a vehicle, as shown in fig. 3, the apparatus including:
the first acquisition module 301 is used for acquiring environmental data of an environment where a vehicle to be controlled is located;
a first determining module 302, configured to determine whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data;
a second obtaining module 303, configured to obtain, when it is determined that the target vehicle exists, driving parameters corresponding to the vehicle to be controlled and the target vehicle, respectively;
a second determining module 304, configured to determine whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the driving parameter and the environment data;
and the executing module 305 is used for controlling the vehicle to be controlled to execute the target action under the condition that the target vehicle and the vehicle to be controlled meet each other within the preset time period.
Optionally, the environmental data comprises audio data or an environmental image; the first determining module 302 is configured to determine whether a preset audio is received according to the audio data, and determine that the target vehicle exists in the preset area if the preset audio is determined to be received; or, determining whether a preset image is included in the environment image, and in case that it is determined that the preset image is included, determining that the target vehicle exists within the preset area.
Optionally, the environmental data comprises audio data and an environmental image; the first determining module 302 is configured to: determining a target weight combination from preset weight combinations according to the environment image, wherein the target weight combination comprises a first preset weight corresponding to the audio data and a second preset weight corresponding to the environment image; performing feature matching on the audio data and the preset audio to obtain a first matching degree; performing feature matching on the environment image and the preset image to obtain a second matching degree; determining a target matching degree according to the target weight combination, the first matching degree and the second matching degree; and determining that the target vehicle exists in a preset area around the vehicle to be controlled under the condition that the target matching degree is greater than or equal to a preset matching degree threshold value.
Optionally, the environment data includes first image data of a lane line of a first lane in which the vehicle to be controlled is located, and second image data of a lane line of a second lane in which the target vehicle is located; the driving parameters comprise driving speed and driving direction; the second determining module 304 is configured to: determining a horizontal distance between the first lane and the second lane according to the first image data and the second image data; and determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the horizontal distance, the running speed and the running direction.
Optionally, the second determining module 304 is further configured to: determining whether the target vehicle and the vehicle to be controlled move in the same direction or not according to the driving direction under the condition that the horizontal distance is smaller than or equal to a preset distance threshold, and determining that the target vehicle and the vehicle to be controlled meet in a preset time period under the condition that the target vehicle and the vehicle to be controlled move in the same direction; under the condition that the target vehicle and the vehicle to be controlled run in the same direction, if the running speed meets a preset meeting condition, the target vehicle and the vehicle to be controlled are determined to meet in a preset time period; wherein, the preset meeting condition comprises: under the condition that the vehicle to be controlled is positioned in front of the target vehicle, the running speed of the target vehicle is greater than that of the vehicle to be controlled; alternatively, in a case where the vehicle to be controlled is located rearward of the target vehicle, the traveling speed of the target vehicle is smaller than the traveling speed of the vehicle to be controlled. The executing module 305 is configured to, when it is determined that the target vehicle and the vehicle to be controlled meet each other within the preset time period, control the vehicle to be controlled to execute the target motion if the current time reaches the motion executing time.
Optionally, the target action includes controlling a sunroof and a window of the vehicle to be controlled to close, or controlling the vehicle to be controlled to output prompt information, where the prompt information is used to prompt that the target vehicle exists around the vehicle to be controlled.
Alternatively, fig. 4 is a block diagram of a second apparatus for controlling a vehicle according to the embodiment shown in fig. 3, and as shown in fig. 4, the apparatus further includes:
a third determining module 306, configured to determine whether the vehicle to be controlled enters the lane in which the target vehicle is located or an adjacent lane according to the first image data, the second image data, and the driving direction of the vehicle to be controlled;
the second determining module 304 is configured to determine whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the driving speed and the driving direction when it is determined that the vehicle to be controlled enters the lane where the target vehicle is located or an adjacent lane.
Alternatively, fig. 5 is a block diagram of a third apparatus for controlling a vehicle according to the embodiment shown in fig. 3, further including, as shown in fig. 5:
a third obtaining module 307, configured to obtain a vertical distance in a driving direction between the vehicle to be controlled and the target vehicle;
a fourth determining module 308, configured to determine, according to the vertical distance and the traveling speed, an encounter time of the target vehicle and the vehicle to be controlled, and determine an action execution time according to the encounter time;
the executing module 305 is configured to, when it is determined that the target vehicle and the vehicle to be controlled meet each other within the preset time period, control the vehicle to be controlled to execute the target motion if the current time reaches the motion executing time.
Optionally, the target action includes controlling a sunroof and a window of the vehicle to be controlled to close, or controlling the vehicle to be controlled to output prompt information, where the prompt information is used to prompt that the target vehicle exists around the vehicle to be controlled.
Alternatively, fig. 6 is a block diagram of a fourth apparatus for controlling a vehicle according to the embodiment shown in fig. 3, further including, as shown in fig. 6:
a fifth determining module 309, configured to determine a target location of the target vehicle according to the environmental data if the target vehicle is a preset type of sanitation vehicle; determining a target window corresponding to the target position on the vehicle to be controlled; the execution module 305 is configured to control the sunroof and the target window to close.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
By adopting the device, when the vehicle to be controlled meets the target vehicle, the negative influence of dirty water and peculiar smell of the target vehicle on passengers in the vehicle can be avoided by prompting the driver and/or automatically closing the vehicle window and the skylight at the corresponding positions, and the driving experience of a user is improved.
Fig. 7 is a block diagram illustrating an electronic device 700 in accordance with an example embodiment. As shown in fig. 7, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the method for controlling the vehicle. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described method of controlling a vehicle.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described method of controlling a vehicle is also provided. For example, the computer readable storage medium may be the memory 702 described above including program instructions executable by the processor 701 of the electronic device 700 to perform the method of controlling a vehicle described above.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention.
In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (9)
1. A method of controlling a vehicle, the method comprising:
acquiring environmental data of an environment where a vehicle to be controlled is located;
determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data;
under the condition that the target vehicle is determined to exist, acquiring running parameters respectively corresponding to the vehicle to be controlled and the target vehicle;
determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period or not according to the running parameters and the environmental data;
under the condition that the target vehicle and the vehicle to be controlled meet each other within the preset time period, controlling the vehicle to be controlled to execute a target action;
the target action comprises the steps of simultaneously controlling a vehicle to be controlled to output prompt information, automatically closing a vehicle window and a skylight, wherein the prompt information is used for prompting that the target vehicle exists around the vehicle to be controlled;
the control of the vehicle to be controlled to execute the target action comprises the following steps:
when the type of the target vehicle is the target vehicle which only affects one side of the vehicle, controlling the windows and the skylight at the position of the target vehicle to be automatically closed; when the type of the target vehicle is a target vehicle which can generate peculiar smell, controlling all windows and skylights of the vehicle to be controlled to be closed;
the method comprises the steps of determining that a target vehicle and a vehicle to be controlled meet each other in a preset time period, controlling the vehicle to be controlled to acquire environment data of the environment where the vehicle to be controlled is located before executing a target action, and controlling the vehicle to be controlled to prompt people in the vehicle when determining that the vehicle to be controlled can avoid meeting the target vehicle through the preset execution action according to the environment data.
2. The method of claim 1, wherein the environmental data comprises audio data or an environmental image; the determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data comprises:
determining whether a preset audio is received or not according to the audio data, and determining that the target vehicle exists in the preset area under the condition that the preset audio is determined to be received; alternatively, the first and second electrodes may be,
and determining whether a preset image is included in the environment image, and determining that the target vehicle exists in the preset area under the condition that the preset image is included.
3. The method of claim 2, wherein the environmental data comprises audio data and an environmental image; the determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data comprises:
determining a target weight combination from preset weight combinations according to the environment image, wherein the target weight combination comprises a first preset weight corresponding to the audio data and a second preset weight corresponding to the environment image;
performing feature matching on the audio data and the preset audio to obtain a first matching degree;
performing feature matching on the environment image and the preset image to obtain a second matching degree;
determining a target matching degree according to the target weight combination, the first matching degree and the second matching degree;
and determining that the target vehicle exists in a preset area around the vehicle to be controlled under the condition that the target matching degree is greater than or equal to a preset matching degree threshold value.
4. The method according to claim 1, characterized in that the environment data comprises first image data of a lane line of a first lane in which the vehicle to be controlled is located, and second image data of a lane line of a second lane in which the target vehicle is located; the driving parameters comprise driving speed and driving direction; the determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the driving parameters and the environment data comprises:
determining a horizontal distance of the first lane from the second lane from the first image data and the second image data;
and determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the horizontal distance, the running speed and the running direction.
5. The method of claim 4, wherein the determining whether the target vehicle and the vehicle to be controlled will meet within a preset time period according to the horizontal distance, the traveling speed, and the traveling direction comprises:
determining whether the target vehicle and the vehicle to be controlled move in the same direction according to the driving direction under the condition that the horizontal distance is smaller than or equal to a preset distance threshold, and determining that the target vehicle and the vehicle to be controlled meet in a preset time period under the condition that the target vehicle and the vehicle to be controlled move in the same direction;
under the condition that the target vehicle and the vehicle to be controlled run in the same direction, if the running speed meets a preset meeting condition, determining that the target vehicle and the vehicle to be controlled meet in a preset time period;
wherein the preset meeting condition comprises:
in the case where the vehicle to be controlled is located in front of the target vehicle, the traveling speed of the target vehicle is greater than the traveling speed of the vehicle to be controlled; alternatively, the first and second electrodes may be,
in a case where the vehicle to be controlled is located rearward of the target vehicle, the traveling speed of the target vehicle is smaller than the traveling speed of the vehicle to be controlled.
6. The method according to claim 5, wherein before controlling the vehicle to be controlled to perform the target action in the case where it is determined that the target vehicle and the vehicle to be controlled will meet within the preset time period, the method further comprises:
acquiring a vertical distance between the vehicle to be controlled and the target vehicle in the driving direction;
determining the meeting time of the target vehicle and the vehicle to be controlled according to the vertical distance and the running speed;
determining action execution time according to the meeting time;
the controlling the vehicle to be controlled to execute the target action under the condition that the target vehicle and the vehicle to be controlled meet each other within the preset time period comprises the following steps:
and under the condition that the target vehicle and the vehicle to be controlled meet each other within the preset time period, if the current time reaches the action execution time, controlling the vehicle to be controlled to execute the target action.
7. An apparatus for controlling a vehicle, characterized in that the apparatus comprises:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring environmental data of the environment where a vehicle to be controlled is located;
the first determining module is used for determining whether a target vehicle exists in a preset area around the vehicle to be controlled according to the environment data;
the second acquisition module is used for acquiring running parameters respectively corresponding to the vehicle to be controlled and the target vehicle under the condition that the target vehicle is determined to exist;
the second determining module is used for determining whether the target vehicle and the vehicle to be controlled meet each other within a preset time period according to the running parameters and the environment data;
the execution module is used for controlling the vehicle to be controlled to execute the target action under the condition that the target vehicle and the vehicle to be controlled meet each other within the preset time period;
the target action comprises the steps of simultaneously controlling a vehicle to be controlled to output prompt information, automatically closing a vehicle window and a skylight, wherein the prompt information is used for prompting that the target vehicle exists around the vehicle to be controlled;
the control of the vehicle to be controlled to execute the target action comprises the following steps:
when the type of the target vehicle is the target vehicle which only affects one side of the vehicle, controlling the windows and the skylight at the position of the target vehicle to be automatically closed; when the type of the target vehicle is a target vehicle which can generate peculiar smell, controlling all windows and skylights of the vehicle to be controlled to be closed;
the method comprises the steps of determining that a target vehicle and a vehicle to be controlled meet each other in a preset time period, controlling the vehicle to be controlled to acquire environment data of the environment where the vehicle to be controlled is located before executing a target action, and controlling the vehicle to be controlled to prompt people in the vehicle when determining that the vehicle to be controlled can avoid meeting the target vehicle through the preset execution action according to the environment data.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
9. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 6.
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