CN115027488A

CN115027488A - Vehicle control method and device and intelligent vehicle

Info

Publication number: CN115027488A
Application number: CN202210801056.1A
Authority: CN
Inventors: 朱亚萍; 张敏; 倪海艳; 徐温温; 赵雷雷
Original assignee: Proton Automotive Technology Co Ltd
Current assignee: Proton Automotive Technology Co Ltd
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2022-09-09

Abstract

The present disclosure provides a vehicle control method, a device and an intelligent vehicle, including: acquiring parameters of a vehicle, a pose of a driver and physiological information of the driver; determining a driving state of the driver based on the parameter of the vehicle, the pose of the driver, and the physiological information of the driver; if the driving state of the driver is an abnormal driving state, triggering the vehicle to enter an automatic driving mode or sending prompt information to the driver; wherein the parameter of the vehicle comprises at least one of: the stress condition of an accelerator pedal, the stress condition of a brake pedal and the running track of the vehicle; the pose of the driver comprises at least one of: the head pose of the driver and the five sense organs pose of the driver; the driver's physiological information includes at least one of: heart rate and blood oxygen saturation of the driver.

Description

Vehicle control method and device and intelligent vehicle

Technical Field

The disclosure relates to the technical field of intelligent vehicles, in particular to a vehicle control method and device and an intelligent vehicle.

Background

With the wide application of vehicles in daily life, the number of traffic accidents is also gradually increased. Therefore, how to intelligently control the vehicle and improve the traffic safety are the targets that are constantly pursued in the field of intelligent vehicle technology.

Disclosure of Invention

The disclosure provides a vehicle control method and device and an intelligent vehicle.

According to a first aspect of the present disclosure, there is provided a vehicle control method including:

acquiring parameters of a vehicle, a pose of a driver and physiological information of the driver;

determining a driving state of the driver based on the parameter of the vehicle, the pose of the driver, and the physiological information of the driver;

if the driving state of the driver is an abnormal driving state, triggering the vehicle to enter an automatic driving mode or sending prompt information to the driver;

wherein the parameter of the vehicle comprises at least one of: the stress condition of an accelerator pedal, the stress condition of a brake pedal and the running track of the vehicle;

the pose of the driver comprises at least one of: the head pose of the driver and the five sense organs pose of the driver;

the driver's physiological information includes at least one of: heart rate and blood oxygen saturation of the driver.

In some embodiments, the determining the driving state of the driver based on the parameter of the vehicle, the pose of the driver, and the physiological information of the driver comprises:

judging whether the parameters of the vehicle, the pose of the driver and the physiological information of the driver are abnormal or not;

if at least one of the parameters of the vehicle, the pose of the driver and the physiological information of the driver is abnormal, determining that the driving state of the driver is an abnormal driving state;

and if the parameters of the vehicle, the pose of the driver and the physiological information of the driver are not abnormal, determining that the driving state of the driver is a normal driving state.

In some embodiments, the determining whether the parameter of the vehicle, the pose of the driver, and the physiological information of the driver are abnormal includes at least one of:

detecting at least one of the stress condition of the accelerator pedal, the stress condition of the brake pedal and the driving track of the vehicle, and determining whether the parameter of the vehicle is abnormal or not according to at least one of the stress condition of the accelerator pedal, the stress condition of the brake pedal and the driving track of the vehicle;

detecting the head posture of the driver and/or the five sense organs posture of the driver, and determining whether the posture of the driver is abnormal or not according to the head posture of the driver and/or the five sense organs posture of the driver;

detecting the heart rate and/or the blood oxygen saturation of the driver, and determining whether the physiological information of the driver is abnormal or not according to the heart rate and/or the blood oxygen saturation of the driver.

In some embodiments, the determining whether the parameter of the vehicle is abnormal according to at least one of the stress condition of the accelerator pedal, the stress condition of the brake pedal and the driving track of the vehicle includes at least one of:

if the stress of the accelerator pedal is larger than or equal to a first value within a first continuous time, determining that the parameter of the vehicle is abnormal;

if the stress of the brake pedal is larger than or equal to a second value within a second continuous time period, determining that the parameter of the vehicle is abnormal;

if the driving track of the vehicle is different from the shape of the lane where the vehicle is located, determining that the parameter of the vehicle is abnormal;

and if the vehicle is switched to an adjacent lane to run and the running track of the vehicle in the adjacent lane is different from the shape of the adjacent lane, determining that the parameter of the vehicle is abnormal.

In some embodiments, the determining whether the pose of the driver is abnormal according to at least one of the head pose of the driver, the pose of the five sense organs of the driver, and the position of the hand of the driver includes at least one of:

if the head inclination angle of the driver is larger than a first angle value and the continuous time of the head inclination of the driver is larger than a third value, determining that the pose of the driver is abnormal;

if the continuous duration of the eyes of the driver is longer than a fourth value, determining that the pose of the driver is abnormal;

if the continuous time length of the skew mouth of the driver is greater than a fifth value, determining that the pose of the driver is abnormal;

if the continuous time length of the opening of the mouth of the driver is greater than a sixth value, determining that the pose of the driver is abnormal;

and if the continuous duration that the hands of the driver are not positioned on the steering wheel is greater than a seventh value, determining that the pose of the driver is abnormal.

In some embodiments, the determining whether the physiological information of the driver is abnormal according to the heart rate and/or the blood oxygen saturation of the driver includes at least one of:

if the heart rate of the driver exceeds a preset heart rate range, determining that the physiological information of the driver is abnormal;

and if the blood oxygen saturation of the driver is smaller than a preset blood oxygen saturation threshold value, determining that the physiological information of the driver is abnormal.

In some embodiments, said triggering said vehicle to enter an autonomous driving mode comprises:

obtaining a parking place, and determining a parking path according to the parking place;

controlling the vehicle to automatically travel based on the parking path.

In some embodiments, the method further comprises:

acquiring first image information in the vehicle and a first signal of the vehicle in an eighth time period before the starting time of the driver entering the abnormal driving state, and acquiring second image information in the vehicle and a second signal of the vehicle in a ninth time period after the starting time of the driver entering the abnormal driving state;

and sending the first image information, the first signal, the second image information and the second signal to a server.

In some embodiments, the planning a parking path according to the parking place includes:

sending the parking place to a server;

receiving a parking path planned by the server based on the parking place.

According to a second aspect of the present disclosure, there is provided a vehicle control apparatus including:

the acquisition module is used for acquiring parameters of a vehicle, the position and the posture of a driver and physiological information of the driver;

a determination module to determine a driving state of the driver based on a parameter of the vehicle, a pose of the driver, and physiological information of the driver;

the processing module is used for triggering the vehicle to enter an automatic driving mode or sending prompt information to the driver if the driving state of the driver is an abnormal driving state;

In some embodiments, the determining module is configured to determine whether the parameter of the vehicle, the pose of the driver, and the physiological information of the driver are abnormal;

In some embodiments, the determining module is configured to perform at least one of:

detecting the head posture of the driver and/or the five sense organs posture of the driver, and determining whether the posture of the driver is abnormal or not according to the head posture of the driver and the five sense organs posture of the driver;

if the stress of the brake pedal is larger than or equal to a second value in a second continuous time period, determining that the parameter of the vehicle is abnormal;

if the head inclination angle of the driver is larger than a first angle value and the continuous head inclination duration of the driver is larger than a third value, determining that the pose of the driver is abnormal;

if the continuous time length of the deflection of the mouth of the driver is greater than a fifth value, determining that the posture of the driver is abnormal;

and if the blood oxygen saturation degree of the driver is smaller than a preset blood oxygen saturation degree threshold value, determining that the physiological information of the driver is abnormal.

In some embodiments, the processing module is configured to obtain a parking place, and determine a parking path according to the parking place;

controlling the vehicle to automatically travel based on the parking path.

In some embodiments, the vehicle control apparatus further includes:

the acquisition module is used for acquiring first image information in the vehicle and a first signal of the vehicle in an eighth time period before the starting time of the driver entering the abnormal driving state, and acquiring second image information in the vehicle and a second signal of the vehicle in a ninth time period after the starting time of the driver entering the abnormal driving state;

a sending module, configured to send the first image information, the first signal, the second image information, and the second signal to a server.

In some embodiments, the processing module is to send the parking place to a server;

receiving a parking path planned by the server based on the parking place.

According to a third aspect of the present disclosure, there is provided a smart vehicle comprising:

at least one processor; and a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle control method described above.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the vehicle control method described above.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising computer programs/instructions which, when executed by a processor, implement a vehicle control method according to the above.

The vehicle control method provided by the embodiment of the disclosure comprises the following steps: acquiring parameters of a vehicle, the pose of a driver and physiological information of the driver; determining a driving state of the driver based on the parameter of the vehicle, the pose of the driver, and the physiological information of the driver; if the driving state of the driver is an abnormal driving state, triggering the vehicle to enter an automatic driving mode or sending prompt information to the driver; wherein the parameter of the vehicle comprises at least one of: the stress condition of an accelerator pedal, the stress condition of a brake pedal and the running track of the vehicle; the pose of the driver comprises at least one of: the head pose of the driver and the five sense organs pose of the driver; the driver's physiological information includes at least one of: heart rate and blood oxygen saturation of the driver. Therefore, whether the driver enters an abnormal driving state can be judged by combining various factors such as the stress condition of an accelerator pedal of the vehicle, the stress condition of a brake pedal, the driving track of the vehicle, the heart rate of the driver, the blood oxygen saturation, the head posture of the driver, the five sense organs posture of the driver and the like, and the accuracy of judging whether the driver enters the abnormal driving state is improved; when the driver enters an abnormal driving state, the vehicle is triggered to enter an automatic driving mode or prompt information is sent to the driver, so that the possible traffic danger can be rapidly treated in an emergency, and the traffic safety is improved.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic process flow diagram of an alternative vehicle control method provided by an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a specific implementation process for determining a driving state of a driver based on a parameter of a vehicle, a pose of the driver, and physiological information of the driver, provided by an embodiment of the disclosure;

FIG. 3 is a schematic diagram of an alternative process flow for triggering a vehicle to enter an autonomous driving mode provided by an embodiment of the present disclosure;

FIG. 4 is a schematic view of an alternative detailed process flow of a vehicle control method provided by the disclosed embodiment;

fig. 5 is a schematic structural diagram of a vehicle control device provided in the embodiment of the present disclosure;

fig. 6 is a system configuration diagram of a vehicle control apparatus provided in the embodiment of the present disclosure;

fig. 7 is a schematic diagram of a hardware structure for implementing the vehicle control device provided in the embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

In the description that follows, references to the terms "first \ second \ third" are intended merely to distinguish similar objects and do not denote a particular order, but rather are to be understood that "first \ second \ third" may, where permissible, be interchanged in a particular order or sequence so that embodiments of the disclosure described herein can be practiced in other than the order shown or described herein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing embodiments of the disclosure only and is not intended to be limiting of the disclosure.

Fig. 1 is a schematic process flow diagram of an alternative vehicle control method provided by the present disclosure, which may include at least the following steps:

step S201, obtaining parameters of a vehicle, a position and a posture of a driver and physiological information of the driver.

Step S202, determining the driving state of the driver based on the parameters of the vehicle, the pose of the driver and the physiological information of the driver.

Step S203, if the driving state of the driver is an abnormal driving state, triggering the vehicle to enter an automatic driving mode or sending prompt information to the driver.

With respect to step S201, in some optional embodiments, the parameter of the vehicle includes at least one of: the stress condition of an accelerator pedal, the stress condition of a brake pedal and the running track of the vehicle. The stress condition of the accelerator pedal may refer to a magnitude of stress of the accelerator pedal in the first continuous time period. The force condition of the brake pedal may be a magnitude of the force applied to the brake pedal during the second continuous period of time. The driving track of the vehicle may refer to a moving position of the vehicle in a time period. The stress condition of the accelerator pedal and the stress condition of the brake pedal can be determined through a hard wire signal of the vehicle, and the running track of the vehicle can be determined according to a positioning system in the vehicle.

In some optional embodiments, the pose of the driver comprises at least one of: a head pose of the driver, a five sense organ pose of the driver, and a position of the hands of the driver. The head posture of the driver may refer to an angle at which the head of the driver is inclined, and a continuous time period during which the head of the driver is inclined at the angle. The driver's five sense organ position may also include the driver's eye closure, and the continuous duration of the driver's eye closure. The driver's five sense organ positions may also include the driver's mouth opening, and the duration of the driver's mouth opening. The position of the driver's hands may include whether the driver's hands are on the steering wheel and the duration that the driver's hands are not on the steering wheel. The pose of the driver can be acquired through the camera device.

In some optional embodiments, the driver's physiological information includes at least one of: heart rate and blood oxygen saturation of the driver. Wherein, driver's physiological information accessible vehicle-mounted terminal or bracelet etc. monitor and acquire.

With respect to step S202, a specific implementation process of determining the driving state of the driver based on the parameters of the vehicle, the pose of the driver and the physiological information of the driver is shown in fig. 2, and at least includes the following steps:

step S202a, determining whether the parameter of the vehicle, the posture of the driver, and the physiological information of the driver are abnormal.

In some embodiments, the parameter of the vehicle includes at least one of a stress condition of an accelerator pedal, a stress condition of a brake pedal, and a driving track of the vehicle, and it is determined whether the parameter of the vehicle is abnormal according to the at least one of the stress condition of the accelerator pedal, the stress condition of the brake pedal, and the driving track of the vehicle.

In other embodiments, at least one of the head pose of the driver, the five sense organs pose of the driver, and the hand position of the driver is detected, and whether the pose of the driver is abnormal is determined according to at least one of the head pose of the driver, the five sense organs pose of the driver, and the hand position of the driver.

In still other embodiments, the heart rate and/or the blood oxygen saturation of the driver are detected, and whether the physiological information of the driver is abnormal or not is determined according to the heart rate and/or the blood oxygen saturation of the driver.

Step S202b, if at least one of the parameter of the vehicle, the pose of the driver, and the physiological information of the driver is abnormal, determining that the driving state of the driver is an abnormal driving state.

In some embodiments, an anomaly occurs for a parameter of the vehicle:

and if the stress of the accelerator pedal is larger than or equal to a first value in the first continuous time, determining that the parameter of the vehicle is abnormal. As an example, the first value may be the maximum force that the throttle of the vehicle can withstand, or the first value may be the maximum force that the throttle of the vehicle can withstand multiplied by a preset percentage; the first duration can be flexibly set according to an actual scene, for example, the first duration is set to be 3 minutes or 4 minutes, and the value of the first duration is not limited in the embodiment of the disclosure. In the embodiment of the disclosure, if the force applied to the accelerator pedal is greater than or equal to the first value within the first continuous time, the parameter representing the vehicle is abnormal, and the driver is in an abnormal driving state.

And if the stress of the brake pedal is greater than or equal to a second value in a second continuous time period, determining that the parameter of the vehicle is abnormal. As an example, the second value may be the maximum force that the brake pedal of the vehicle can withstand, or the second value may be the maximum force that the brake pedal of the vehicle can withstand multiplied by a preset percentage; the second continuous time period may be flexibly set according to an actual scene, for example, the second continuous time period is set to be 2 minutes or 3 minutes, and the value of the second continuous time period is not limited in the embodiment of the present disclosure. In the embodiment of the disclosure, if the stress of the brake pedal is greater than or equal to the second value in the second continuous time period, the parameter representing the vehicle is abnormal, and the driver is in an abnormal driving state.

And if the driving track of the vehicle is different from the shape of the lane where the vehicle is located, determining that the parameter of the vehicle is abnormal. As an example, if the lane in which the vehicle is located is linear and the driving track of the vehicle is "S" shaped or "W" shaped, the parameter representing the vehicle is abnormal, and the driver is in an abnormal driving state.

And if the vehicle is switched to an adjacent lane to run and the running track of the vehicle on the adjacent lane is different from the shape of the adjacent lane, determining that the parameter of the vehicle is abnormal. As an example, if the vehicle switches from the current lane to the adjacent lane, but the vehicle does not stably travel in the adjacent lane but travels in a trajectory different from the shape of the adjacent lane, the parameter indicating the vehicle is abnormal, and the driver is in an abnormal driving state.

In other embodiments, an exception occurs for the pose of the driver:

and if the head inclination angle of the driver is larger than a first angle value and the continuous time of the head inclination of the driver is larger than a third value, determining that the pose of the driver is abnormal. As an example, if the head of the driver is inclined forwards or backwards or leftwards or rightwards by an angle greater than a first angle value, the head inclination representing the driver is not physiological inclination, and if the continuous duration of the inclination is greater than a third value, the head inclination representing the driver is in a sleeping or coma state, and the posture of the driver is abnormal. The third value may be flexibly set according to an actual scene, for example, the third value is set to be 2 minutes or 4 minutes, and the third value is not limited in the embodiment of the present disclosure.

And if the continuous duration of the closed eyes of the driver is greater than a fourth value, determining that the pose of the driver is abnormal. As an example, if the continuous duration of the closing of the eyes of the driver is greater than the fourth value, it is indicated that the driver is in a sleeping or coma state, and the posture of the driver is abnormal. The fourth value may be flexibly set according to an actual scene, for example, the fourth value is set to be 2 minutes or 3 minutes, and the fourth value is not limited in the embodiment of the present disclosure.

And if the continuous time length of the deflection of the mouth of the driver is greater than a fifth value, determining that the posture of the driver is abnormal. As an example, if the continuous time length of the skew of the mouth of the driver is greater than the fifth value, it is indicated that the driver is in a sleep or sick state, and the posture of the driver is abnormal. The fifth value may be flexibly set according to an actual scene, for example, the fifth value is set to be 1 minute or 2 minutes, and the value of the fifth value is not limited in the embodiment of the present disclosure.

And if the continuous time length of the opening of the mouth of the driver is greater than a sixth value, determining that the pose of the driver is abnormal. As an example, if the continuous duration of the opening of the mouth of the driver is greater than the sixth value, it is indicated that the driver is in a sleep or sick state, and the posture of the driver is abnormal. The sixth value may be flexibly set according to an actual scene, for example, the sixth value is set to be 1 minute or 3 minutes, and the value of the sixth value is not limited in the embodiment of the present disclosure.

And if the continuous duration that the hands of the driver are not positioned on the steering wheel is greater than a seventh value, determining that the pose of the driver is abnormal. As an example, if the continuous duration that the hands of the driver are not located on the steering wheel is greater than the seventh value, it is indicated that the driver is in a sleeping or sick state, and the posture of the driver is abnormal. The seventh value may be flexibly set according to an actual scene, for example, the seventh value is set to be 2 minutes or 3 minutes, and the value of the seventh value is not limited in the embodiment of the disclosure.

In still other embodiments, an abnormality occurs in the physiological information for the driver:

and if the heart rate of the driver exceeds a preset heart rate range, determining that the physiological information of the driver is abnormal. As an example, if the preset heart rate range is 60-100 times/minute, and the heart rate of the driver is lower than 60 times/minute or higher than 100 times/minute, it is determined that the physiological information of the driver is abnormal. Wherein the predetermined heart rate range may be increased or decreased by a value based on the medically defined conventional heart rate range.

And if the blood oxygen saturation degree of the driver is smaller than a preset blood oxygen saturation degree threshold value, determining that the physiological information of the driver is abnormal. As an example, if the preset blood oxygen saturation threshold is 95%, and the blood oxygen saturation of the driver is less than 95%, it is determined that the physiological information of the driver is abnormal.

In still other embodiments, the alcohol concentration inside the vehicle may be detected, and if the alcohol concentration exceeds a preset concentration threshold, it may be determined that the driver enters an abnormal driving state due to excessive drinking.

Step S202c, if the parameters of the vehicle, the pose of the driver and the physiological information of the driver are not abnormal, determining that the driving state of the driver is a normal driving state.

In step S203, if the driving state of the driver is the abnormal driving state, the vehicle may be triggered to enter the automatic driving mode, or a prompt message may be sent to the driver. The prompt information can also be sent to the vehicle management personnel, the emergency contact person of the driver or the traffic management department for prompting the vehicle management personnel, the emergency contact person of the driver or the traffic management department that the driver is in the abnormal driving state, so that the vehicle management personnel, the emergency contact person of the driver or the traffic management department can start the emergency plan, the risk of traffic accidents is reduced, and the traffic safety is improved.

In some embodiments, the cause of the abnormal driving state may be determined, and if the driver is in the abnormal driving state due to physical causes of the driver, such as coma, etc., the vehicle may be directly triggered to enter the automatic driving mode, so as to ensure the driving safety of the vehicle as soon as possible. As an example, if the preset heart rate range is 60/min-100/min and the heart rate of the driver is 30/min, it is determined that the body of the driver is abnormal, and the vehicle is directly triggered to enter the automatic driving mode.

In other embodiments, the cause of the abnormal driving state may be determined, and if the driver is in the abnormal driving state due to fatigue of the driver, a prompt message may be sent to the driver, and the driver may be awakened by the prompt message to enter the normal driving state. As an example, if the continuous duration of the closing of the eyes of the driver is greater than the fourth value, it may be determined that the driver is in a sleep state, and a prompt message may be sent to the driver. Wherein, the prompt message can be a voice prompt, or a seat vibration prompt, or a voice and seat vibration prompt; the voice prompt can be to output voice information of 'please pay attention to, do not fatigue driving' and the like so as to wake up the driver.

And if the feedback information sent by the driver is not received or the driver is still in an abnormal driving state within a preset time period after the prompt information is sent, triggering the vehicle to enter an automatic driving mode. The feedback information sent by the driver may be that the state of the driver feedback itself is a normal driving state, or that the driver feedbacks "driving state determination error" or the like.

In some embodiments, an alternative process flow diagram for triggering a vehicle to enter an autonomous driving mode, as shown in fig. 3, includes at least the following steps:

step S301, a parking place is obtained, and a parking path is determined according to the parking place.

In some embodiments, the parking location may be obtained by the vehicle control device itself, and the parking path may be determined according to the parking location.

In other embodiments, the vehicle control device may send request information to the server to request the server to obtain the parking location, and the vehicle control device plans the parking path after the server sends the parking location to the vehicle control device.

In still other embodiments, the vehicle control device may send request information to the server to request the server to obtain the parking path, and then the server sends the parking path to the vehicle control device.

As an example, the parking place may be a parking lot or a parking band closest to the current position of the vehicle, and the parking path is planned with the current position of the vehicle as a starting point and the parking lot or the parking band as an ending point.

And step S302, controlling the vehicle to automatically run based on the parking path.

In some embodiments, the vehicle may be controlled to enter an autonomous driving mode such that the vehicle is autonomously driven from a starting point in the parking path to an ending point in the parking path.

Fig. 4 is a schematic diagram of an optional detailed process flow of a vehicle control method provided by an embodiment of the disclosure, where the vehicle control method may include at least the following steps:

step S401, obtaining parameters of a vehicle, a position and a posture of a driver and physiological information of the driver.

Step S402, determining the driving state of the driver based on the parameters of the vehicle, the pose of the driver and the physiological information of the driver.

And step S403, if the driving state of the driver is an abnormal driving state, triggering the vehicle to enter an automatic driving mode or sending prompt information to the driver.

The processing procedure of steps S401 to S403 is the same as the processing procedure of steps S201 to S203, and is not described herein again.

Step S404, collecting first image information in the vehicle and a first signal of the vehicle in an eighth time period before the starting time of the driver entering the abnormal driving state, and collecting second image information in the vehicle and a second signal of the vehicle in a ninth time period after the starting time of the driver entering the abnormal driving state.

In some embodiments, the values of the eighth duration and the ninth duration may be preset; as an example, if the preset eighth period is 30 minutes and the ninth period is 28 minutes, the first signal of the vehicle and the first image in the vehicle within 30 minutes before the start time when the driver enters the abnormal driving state are collected, and the second signal of the vehicle and the second image in the vehicle within 28 minutes after the start time when the driver enters the abnormal driving state are collected.

The first image information and the second image information can be collected through the camera device, the behavior of the driver can be determined through the first image information and the second image information, and then the reason why the driver enters the abnormal driving state is determined. As an example, with the first image information and the second image information, it can be determined that the driver enters an abnormal driving state due to a seizure or due to fatigue drowsiness.

The first signal and the second signal can be acquired through a hard wire system of the vehicle and/or a bus system of the vehicle, the state of the vehicle in the driving process can be determined through the first signal and the second signal, and the reason why the driver enters the abnormal driving state is judged according to the state of the vehicle. As an example, if the force applied to the brake pedal is greater than or equal to the first value during the first continuous period, it indicates that the driver is always pressing on the brake pedal hard, and the driver may experience physical discomfort, and the driver enters an abnormal driving state due to physical reasons of the driver.

Step S405, sending the first image information, the first signal, the second image information, and the second signal to a server.

In some embodiments, the first image information, the first signal, the second image information and the second signal are sent to the server, so that the server can judge the reason why the driver enters the abnormal driving state, awaken the driver or directly trigger the vehicle to enter the automatic driving mode according to the reason why the driver enters the abnormal driving state, start a corresponding emergency plan at the fastest speed, and improve traffic safety.

Based on the embodiments shown in fig. 1 to 4 described above in the embodiments of the present disclosure, when the driver confirms that the own state is abnormal and cannot drive the vehicle normally, the vehicle may be triggered to enter the automatic driving mode through a touch key, voice triggering, gesture triggering, and the like. Under the condition that the driver confirms that the state of the driver is recovered to be normal, the driver can end the automatic driving mode of the vehicle in a touch key mode and the like and enter a mode that the driver drives the vehicle; the server may also be notified that the vehicle is entering a driver driving mode.

The disclosed embodiment also provides a vehicle control device, the structure of which, as shown in fig. 5, includes:

an obtaining module 501, configured to obtain parameters of a vehicle, a pose of a driver, and physiological information of the driver;

a determination module 502 for determining a driving state of the driver based on a parameter of the vehicle, a pose of the driver, and physiological information of the driver;

the processing module 503 is configured to trigger the vehicle to enter an automatic driving mode or send a prompt message to the driver if the driving state of the driver is an abnormal driving state;

In some optional embodiments, the determining module 502 is configured to determine whether the parameter of the vehicle, the pose of the driver, and the physiological information of the driver are abnormal;

In some optional embodiments, the determining module 502 is configured to perform at least one of:

detecting at least one of a head pose of the driver, a five sense organ pose of the driver and a position of a hand of the driver, and determining whether the pose of the driver is abnormal according to the at least one of the head pose of the driver, the five sense organ pose of the driver and the position of the hand of the driver;

In some optional embodiments, the processing module 503 is configured to obtain a parking place, and determine a parking path according to the parking place;

controlling the vehicle to automatically travel based on the parking path.

In some optional embodiments, the vehicle control apparatus further comprises:

an acquisition module (not shown in fig. 5) configured to acquire first image information in the vehicle and a first signal of the vehicle in an eighth time period before a start time of the driver entering the abnormal driving state, and second image information in the vehicle and a second signal of the vehicle in a ninth time period after the start time of the driver entering the abnormal driving state;

a sending module (not shown in fig. 5) for sending the first image information, the first signal, the second image information and the second signal to a server.

In some optional embodiments, the processing module 503 is configured to send the parking place to a server;

receiving a parking path planned by the server based on the parking place.

Based on the vehicle control method provided in fig. 1 to 4 and the vehicle control device provided in fig. 5, a system structure diagram of the vehicle control device provided in the embodiment of the present disclosure includes, as shown in fig. 6: the driving state anomaly detection system 601, the vehicle intelligent operation system 602, the intelligent driving system 603 and the cloud monitoring system 604; the vehicle intelligent operation system 602 may include an active operation unit 6021, an abnormality warning unit 6022, and an automatic operation unit 6023, among others.

In some embodiments, the driving state abnormality detection system 601 may determine whether the driver is in an abnormal driving state according to a facial expression, a heart rate, a gesture of the driver, a touch condition of the driver to the steering wheel (whether the steering wheel is touched), a vehicle bus signal, and a vehicle hardwire signal.

In some embodiments, the vehicle intelligent operation system 602 may be triggered to start by the active operation unit 6021, the abnormality alert unit 6022, and the automatic operation unit 6023. If the driver confirms that the body is abnormal, the vehicle intelligent operation system 602 is triggered and started through the active operation unit 6021; alternatively, the vehicle control apparatus triggers the start of the vehicle intelligent operation system 602 by the automatic operation unit 6023; or if the abnormality reminding unit 6022 does not receive the feedback information of the driver within a period of time after sending the prompt information to the driver, the abnormality reminding unit 6022 triggers the vehicle intelligent operation system 602 to start. After the vehicle intelligent operation system 602 is triggered to start, the vehicle enters an automatic driving mode.

In some embodiments, the vehicle entering the autonomous driving mode may be implemented by an intelligent driving system 6031 within the vehicle. The cloud monitoring system 6032 collects images and vehicle signals in the eighth time period before the driver enters the abnormal driving state and images and vehicle signals in the ninth time period after the driver enters the abnormal driving state, and sends the collected images and vehicle signals to the server for storage.

In the technical scheme of the present disclosure, the acquisition, storage, application, and the like of the personal information of the driver are all in accordance with the regulations of the relevant laws and regulations, and do not violate the customs of the public order.

In the embodiment of the present disclosure, the server may be a Cloud server, may be an independent physical server, may also be a server cluster or a distributed system formed by a plurality of physical servers, and may also be a Cloud server providing basic Cloud computing services such as a Cloud service, a Cloud database, Cloud computing, a Cloud function, Cloud storage, a network service, Cloud communication, middleware service, a domain name service, a security service, a CDN, and a big data and artificial intelligence platform, where Cloud Technology (Cloud Technology) refers to a hosting Technology that unifies series resources such as hardware, software, and a network in a wide area network or a local area network to implement computing, storage, processing, and sharing of data. The vehicle control device 800 may be, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart television, a smart watch, and the like.

The present disclosure also provides a smart vehicle, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

In some optional embodiments, the vehicle control method provided by the embodiments of the present application may be implemented by a terminal installed on a smart vehicle running a computer program, for example, the computer program may be a native program or a software module in an operating system; may be a local (Native) Application (APP), i.e. a program that needs to be installed in an operating system to run; or may be an applet, i.e. a program that can be run only by downloading it to a browser environment; but also an applet that can be embedded into any APP. In general, the computer programs described above may be any form of application, module, or plug-in.

Terminals are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The terminal may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, in-vehicle terminals, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

Fig. 7 shows a hardware configuration diagram of a vehicle control apparatus 800 that can be used to implement an embodiment of the present disclosure.

As shown in fig. 7, the vehicle control apparatus 800 includes a calculation unit 801 that can execute various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the vehicle control apparatus 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

A plurality of components in the vehicle control apparatus 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the vehicle control apparatus 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 801 executes the respective methods and processes described above, such as the vehicle control method. For example, in some alternative embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some alternative embodiments, part or all of the computer program may be loaded and/or installed on the vehicle control apparatus 800 via the ROM 802 and/or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured as a vehicle control method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the vehicle control methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server combining a blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A vehicle control method, characterized by comprising:

2. The method of claim 1, wherein the determining the driving state of the driver based on the parameter of the vehicle, the pose of the driver, and the physiological information of the driver comprises:

3. The method of claim 2, wherein the determining whether the parameter of the vehicle, the pose of the driver, and the physiological information of the driver are abnormal comprises at least one of:

4. The method of claim 3, wherein determining whether the parameter of the vehicle is abnormal according to at least one of the stress condition of the accelerator pedal, the stress condition of the brake pedal and the driving track of the vehicle comprises at least one of the following:

5. The method of claim 3, wherein the determining whether the pose of the driver is abnormal as a function of at least one of the head pose of the driver, the facial pose of the driver, and the position of the hands of the driver comprises at least one of:

6. The method of claim 3, wherein the determining whether the physiological information of the driver is abnormal according to the heart rate and/or the blood oxygen saturation of the driver comprises at least one of:

7. The method of any of claims 1-6, wherein the triggering the vehicle to enter an autonomous driving mode comprises:

controlling the vehicle to automatically travel based on the parking path.

8. The method of claim 7, further comprising:

9. The method of claim 7, wherein planning a parking path based on the parking location comprises:

sending the parking place to a server;

receiving a parking path planned by the server based on the parking place.

10. A vehicle control apparatus, characterized by comprising:

the acquisition module is used for acquiring parameters of a vehicle, the pose of a driver and physiological information of the driver;

11. The vehicle control apparatus according to claim 10, wherein the determination module is configured to determine whether or not an abnormality occurs in a parameter of the vehicle, a pose of the driver, and physiological information of the driver;

12. A smart vehicle, characterized in that the smart vehicle comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 9.

13. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method according to any one of claims 1 to 9.

14. A computer program product, characterized in that the computer program product comprises a computer program/instructions which, when executed by a processor, implements the method of any of claims 1 to 9.