Abnormal driving intervention method and device, and vehicle

Abstract

This application relates to a method, device, and vehicle for intervening in abnormal driving. The method includes: determining the current driving safety level of the vehicle and a safety limit coefficient corresponding to the driving safety level; if the driving safety level exceeds a preset level, then upon receiving the original required torque and / or original speed limit of the current vehicle, intervening based on the safety limit coefficient to control the driving action of the current vehicle. This method can improve the safety of vehicle driving.

Description

Technical Field

[0001] This application relates to the field of new energy vehicle technology, and in particular to a method, device and vehicle for abnormal vehicle operation. Background Technology

[0002] Compared with traditional gasoline vehicles, new energy vehicles have faster and stronger power response and torque output, which also brings higher hidden driving risks.

[0003] For example, when a scenario affecting the safety of the driver and vehicle is identified, and the driver's misoperation such as pressing the accelerator too hard is detected, the vehicle is placed in an uncontrollable risky state, which may even lead to a safety accident.

[0004] Therefore, the safety of vehicle driving in existing technologies still needs to be improved. Summary of the Invention

[0005] Based on this, a method, device, and vehicle for intervening in abnormal vehicle driving are provided to improve the safety of vehicle driving in the prior art.

[0006] Firstly, a method for intervening in abnormal driving is provided, the method comprising:

[0007] Determine the current vehicle's driving safety level and the corresponding safety limit coefficient;

[0008] If the driving safety level exceeds the preset level, then upon receiving the original required torque and / or original speed limit of the current vehicle, intervention will be made on the original required torque and / or original speed limit based on the safety limit coefficient to control the driving action of the current vehicle.

[0009] In conjunction with the first aspect, in a first possible implementation of the first aspect, the step of determining the current vehicle's driving safety level and the safety limit coefficient corresponding to the driving safety level includes:

[0010] Collect the driver's seat information and driving information of the current vehicle, wherein the driver's seat information is used to indicate the status of each component of the driver's seat, and the driving information includes the driving parameters of the current vehicle;

[0011] Based on the driver's seat information and the driving information, the driving safety level and the corresponding safety limit coefficient are determined.

[0012] In conjunction with the first possible implementation of the first aspect, in the second possible implementation of the first aspect, the step of collecting the driver's seat information and driving information of the current vehicle includes:

[0013] The system collects the door status, seat belt status, seat sensor status, and steering wheel detection status of the driver's seat, and preprocesses the door status, seat belt status, seat sensor status, and steering wheel detection status to obtain the driver's seat information. The steering wheel detection status is used to indicate whether the driver has taken their hands off the steering wheel.

[0014] The accelerator pedal opening and vehicle speed valid position are collected, and it is determined whether the vehicle speed valid position is a preset valid position. The vehicle speed valid position is used to indicate that the vehicle speed collected by the sensor is valid.

[0015] If so, the accelerator pedal opening and the sensed vehicle speed are determined as the driving information;

[0016] If not, the first speed of the motor used to control the front axle and the second speed of the motor used to control the rear axle are collected. Based on the first speed and the second speed, the estimated vehicle speed is obtained, and the accelerator pedal opening and the estimated vehicle speed are determined as the driving information.

[0017] In conjunction with the second possible implementation of the first aspect, in the third possible implementation of the first aspect, the step of determining the driving safety level and the safety limit coefficient corresponding to the driving safety level based on the driver's seat information and the driving information includes:

[0018] Obtain the preset vehicle speed threshold, first duration, and accelerator pedal opening range;

[0019] If the door status indicates the door is closed, the seatbelt status indicates the seatbelt is fastened, the seat sensor status indicates the driver is seated in the driver's seat, the steering wheel detection status indicates the driver has not taken their hands off the steering wheel; and the accelerator pedal opening is within the accelerator pedal opening range and remains within the first duration, and the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, then the driving safety level is determined to be Level 1, wherein Level 1 does not exceed the preset level;

[0020] If any of the following conditions are met: the door status indicates the door is open; the seatbelt status indicates the seatbelt is not fastened; the seat sensor status indicates the driver is not sitting in the driver's seat; the steering wheel detection status indicates the driver has taken their hands off the steering wheel for the second duration threshold; and the accelerator pedal opening is within the accelerator pedal opening range for the first duration; and the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, the driving safety level is determined to be the second level, and a first initial torque coefficient and / or a first initial vehicle speed coefficient are obtained as the safety limit coefficient corresponding to the second level, wherein the safety of the second level is lower than that of the first level;

[0021] If any two of the following conditions are met: the door status indicates the door is open; the seatbelt status indicates the seatbelt is not fastened; the seat sensor status indicates the driver is not sitting in the driver's seat; the steering wheel detection status indicates the driver has taken their hands off the steering wheel for the second duration threshold; and the accelerator pedal opening is within the accelerator pedal opening range for the first duration, and the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, the driving safety level is determined to be level three, and a second initial torque coefficient and / or a second initial vehicle speed coefficient are obtained as the safety limit coefficient corresponding to level three, wherein the safety of level three is lower than that of level two.

[0022] In conjunction with the third possible implementation of the first aspect, in the fourth possible implementation of the first aspect, the step of intervening in the original required torque and / or the original limited vehicle speed based on the safety limit coefficient includes:

[0023] When the driving safety level is determined to be the second level, the first limiting torque is obtained based on the product of the original required torque and the first torque coefficient, and / or the first limiting speed is obtained based on the product of the original limiting speed and the first speed coefficient.

[0024] The current vehicle is controlled based on the first limited torque and / or the first limited vehicle speed;

[0025] When the driving safety level is determined to be the third level, the second limiting torque is obtained based on the product of the original required torque and the second torque coefficient, and / or the second limiting speed is obtained based on the product of the original limiting speed and the second speed coefficient;

[0026] The current vehicle is controlled based on the second limit torque and / or the second limit speed.

[0027] In conjunction with the first aspect, in a fifth possible implementation of the first aspect, before intervening in the original required torque and / or original speed limit based on the safety limit coefficient, the method further includes:

[0028] Collect weather information for the area where the vehicle is currently located;

[0029] When the weather information indicates preset weather, a first adjustment coefficient corresponding to the preset weather is determined, wherein the preset weather is weather that is unfavorable to the normal driving of the current vehicle;

[0030] When the driving safety level exceeds the preset level, the safety limit coefficient is adjusted according to the first adjustment coefficient.

[0031] In conjunction with the first aspect, in a sixth possible implementation of the first aspect, before intervening in the original required torque and / or original speed limit based on the safety limit coefficient, the method further includes:

[0032] Collect road information of the area where the vehicle is currently located;

[0033] When the road information indicates a preset road, a second adjustment coefficient corresponding to the preset road is determined, wherein the preset road is a road that is unfavorable to the normal driving of the current vehicle;

[0034] If the current road condition indication is a preset road, then when the driving safety level exceeds the preset level, the safety limit coefficient is adjusted according to the second adjustment coefficient.

[0035] In conjunction with the first aspect, in the seventh possible implementation of the first aspect, after intervening in the original required torque and / or original speed limit based on the safety limit coefficient, the method further includes:

[0036] Output intervention prompt information, wherein the intervention prompt information is used to prompt the user that the current vehicle has automatically intervened in the user's operation;

[0037] Receive feedback information input by the user in response to the intervention prompt information, wherein the feedback information is used to indicate whether the user accepts the intervention and how to adjust the intervention measures;

[0038] The safety limit coefficient is adjusted based on the feedback information.

[0039] Secondly, an intervention device for abnormal driving is provided, the device including a vehicle controller, wherein the vehicle controller includes:

[0040] The preprocessing unit is used to determine the current driving safety level of the vehicle and the safety limit coefficient corresponding to the driving safety level;

[0041] The control unit is configured to intervene in the original required torque and / or original speed limit based on the safety limit coefficient when it receives the original required torque and / or original speed limit of the current vehicle if the driving safety level exceeds the preset level.

[0042] Thirdly, a vehicle is provided, the vehicle including an intervention device for abnormal driving as described in the second aspect, wherein the intervention device for abnormal driving is used to perform the steps of the intervention method for abnormal driving as described in the first aspect or in any one of the first to seventh possible embodiments of the first aspect.

[0043] The aforementioned intervention method, device, and vehicle for abnormal driving determine the current vehicle's driving safety level and the corresponding safety limit coefficient. If the driving safety level exceeds a preset level, upon receiving the vehicle's original required torque and / or original speed limit, intervention is applied to the original required torque and / or original speed limit based on the safety limit coefficient to control the vehicle's driving action. Therefore, this application can, upon detecting abnormal driving, intervene and control the original required torque and / or original speed limit, allowing the vehicle to gradually return to normal driving, thus avoiding, to a certain extent, the vehicle being in an uncontrollable risky state and the occurrence of safety accidents, thereby improving vehicle driving safety. Attached Figure Description

[0044] Figure 1 This is a flowchart illustrating the intervention method for abnormal driving in the first embodiment;

[0045] Figure 2 This is a structural block diagram of the intervention device for abnormal driving in the second embodiment;

[0046] Figure 3 This is a structural block diagram of the intervention device for abnormal driving in the second embodiment. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0048] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0049] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this application. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0050] The orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "middle," "longitudinal," "lateral," "horizontal," "inner," "outer," "radial," and "circumferential" used in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the purpose of simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] New energy vehicles offer faster and stronger power response and torque output compared to traditional gasoline vehicles, but they also bring higher hidden risks. For example, in emergency scenarios that affect the safety of the driver and vehicle, if the driver's misoperation, such as pressing the accelerator pedal too hard or fully, is detected, the vehicle may be placed in an uncontrollable situation, or even cause a safety accident. Therefore, the safety of vehicle driving in current technologies still needs to be improved.

[0052] To address this, this application provides an intervention method, device, and vehicle for abnormal driving. It monitors the current vehicle's driving actions and determines the current vehicle's driving safety level and its corresponding safety limit coefficient. If the driving safety level exceeds a preset level, indicating abnormal driving, upon receiving the vehicle's original required torque and / or original speed limit, it intervenes based on the safety limit coefficient to control the vehicle's driving actions. This gradually restores the vehicle from abnormal driving to normal driving, to a certain extent avoiding the vehicle being in an uncontrollable risky state and the occurrence of safety accidents, thereby improving driving safety. The following embodiments will describe this application in detail.

[0053] In the first embodiment, such as Figure 1 As shown, an intervention method for abnormal driving is provided. Taking the vehicle controller as the executing entity of this method as an example, the method includes the following steps:

[0054] S1: Determine the current vehicle's driving safety level and the corresponding safety limit coefficient.

[0055] In one feasible approach, the step of determining the driving safety level of the current vehicle and the safety limit coefficient corresponding to the driving safety level includes: collecting driver's seat information and driving information of the current vehicle, wherein the driver's seat information is used to indicate the status of various components of the driver's seat, and the driving information includes the driving parameters of the current vehicle; and determining the driving safety level and the safety limit coefficient corresponding to the driving safety level based on the driver's seat information and the driving information.

[0056] Specifically, the steps of collecting the current vehicle's driver's seat information and driving information include: collecting the door status, seat belt status, seat sensor status, and steering wheel detection status of the driver's seat, and preprocessing the door status, seat belt status, seat sensor status, and steering wheel detection status to obtain the driver's seat information, wherein the steering wheel detection status is used to indicate whether the driver has taken their hands off the steering wheel; collecting the accelerator pedal opening and vehicle speed validity position, and determining whether the vehicle speed validity position is a preset validity position, wherein the vehicle speed validity position is used to indicate that the sensor-collected vehicle speed is valid; if yes, the accelerator pedal opening and the sensor-collected vehicle speed are determined as the driving information; if no, a first rotational speed of the motor used to control the front axle and a second rotational speed of the motor used to control the rear axle are collected, and an estimated vehicle speed is obtained based on the first rotational speed and the second rotational speed, and the accelerator pedal opening and the estimated vehicle speed are determined as the driving information.

[0057] It should be noted that the step of obtaining the estimated vehicle speed based on the first rotational speed and the second rotational speed specifically includes: taking the current driving direction of the vehicle as the reference direction, obtaining the wheel circumference, the preset first gear ratio of the front wheel and the second gear ratio of the rear wheel, and obtaining the estimated vehicle speed based on the first rotational speed, the second rotational speed, the wheel circumference, the first gear ratio and the second gear ratio. The mathematical expression for obtaining the estimated vehicle speed includes: v0=(n1*A1*2*π*B+n2*A2*2*π*B) / 2, where v0 is the estimated vehicle speed, n1 is the first rotational speed, A1 is the first gear ratio, π is pi, B is the wheel circumference, n2 is the second rotational speed and A2 is the second gear ratio.

[0058] Before collecting data on the driver's side door status, seat belt status, seat sensor status, steering wheel detection status, and accelerator pedal opening, the system first collects valid bits for these parameters. If the values ​​of these parameters are 1, the collected data is considered valid and reliable, and can be used to determine the safe driving level. Otherwise, the data is invalid and unreliable, and cannot be used to determine the safe driving level; the default safe driving level is the highest level.

[0059] The driver's side door status includes whether the door is open or closed; the driver's side seatbelt status includes whether the seatbelt is fastened or not; the driver's side seat sensor status includes whether the driver is in the driver's seat or not; and the driver's side steering wheel detection status includes whether the driver has their hands on the steering wheel or not. By combining the door status, seatbelt status, seat sensor status, steering wheel detection status, accelerator pedal opening, and vehicle speed information, the current vehicle's driving safety level is determined to be either Level 1, Level 2, or Level 3, along with the corresponding safety limit coefficient for each level. The vehicle speed information is either the sensed speed or the estimated speed.

[0060] Among them, when the safe driving level is determined to be Level 1, the current vehicle has the lowest hidden risk and the highest safety. At this time, there is no need to intervene or limit the original torque demand and / or original speed limit of the current vehicle, so the safety limit coefficient is 1. When the safe driving level is determined to be Level 3, the current vehicle has the highest hidden risk and the lowest safety. At this time, it is necessary to intervene or limit the original torque demand and / or original speed limit of the current vehicle. The safety limit coefficient at this time is the smallest among the three levels of safety limit coefficients. The product of this safety limit coefficient and the original torque demand and / or original speed limit is also the smallest. Therefore, the intervention or limit on the original torque demand and / or original speed limit is greater to reduce the hidden risk at this time and allow the current vehicle's driving behavior to gradually return to normal.

[0061] Specifically, the step of determining the driving safety level and the safety limit coefficient corresponding to the driving safety level based on the driver's seat information and the driving information includes: obtaining a preset vehicle speed threshold, a first duration, and an accelerator pedal opening range; if the door status indicates the door is closed, the seat belt status indicates the seat belt is fastened, the seat sensor status indicates the driver is sitting in the driver's seat, the steering wheel detection status indicates the driver has not taken their hands off the steering wheel; and the accelerator pedal opening is within the accelerator pedal opening range and continues for the first duration, and the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, then the driving safety level is determined to be the first level, wherein the first level does not exceed the preset level;

[0062] If any of the following conditions are met: the door status indicates the door is open; the seatbelt status indicates the seatbelt is not fastened; the seat sensor status indicates the driver is not sitting in the driver's seat; the steering wheel detection status indicates the driver has taken their hands off the steering wheel for the second duration threshold; and the accelerator pedal opening is within the accelerator pedal opening range for the first duration; and the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, the driving safety level is determined to be the second level, and a first initial torque coefficient and / or a first initial vehicle speed coefficient are obtained as the safety limit coefficient corresponding to the second level, wherein the safety of the second level is lower than that of the first level;

[0063] If any two of the following conditions are met: the door status indicates the door is open; the seatbelt status indicates the seatbelt is not fastened; the seat sensor status indicates the driver is not sitting in the driver's seat; the steering wheel detection status indicates the driver has taken their hands off the steering wheel for the second duration threshold; and the accelerator pedal opening is within the accelerator pedal opening range for the first duration, and the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, the driving safety level is determined to be level three, and a second initial torque coefficient and / or a second initial vehicle speed coefficient are obtained as the safety limit coefficient corresponding to level three, wherein the safety of level three is lower than that of level two.

[0064] In scenarios where the driving safety level is determined to be Level 1, there is no need to limit the vehicle's original torque demand and / or original speed limit, nor is it necessary to provide warning information or flash vehicle warning lights through the in-vehicle infotainment system (IVI) or integrated circuit (IC). For example, the speed threshold can be set to 30 km / h, the opening range can be set to (70%, 100%), and the initial duration can be set to 1 second.

[0065] It should be noted that the step of obtaining the first initial torque coefficient and / or the first initial vehicle speed coefficient as the safety limit coefficient corresponding to the second level refers to: obtaining a preset first torque range and / or first vehicle speed range, arbitrarily selecting values ​​within the first torque range as the corresponding first torque coefficient, and / or arbitrarily selecting values ​​within the first vehicle speed range as the corresponding first vehicle speed coefficient. For example, the first torque range can be set to (0.5, 1), and the first vehicle speed range can be set to (0.5, 1). The first torque range and / or first vehicle speed range can be obtained as follows: when the current vehicle's safety driving level is the second level, conduct real-vehicle tests to limit the original required torque with the torque coefficient and / or limit the original limited vehicle speed with the vehicle speed coefficient, obtaining a set of torque coefficients and / or vehicle speed coefficients that can restore the safety driving level from the second level to the first level, i.e., the first torque range and / or first vehicle speed range.

[0066] The vehicle's driving behavior can be gradually restored to normal, and the safe driving level can be restored from level two to level one, by limiting only the original required torque, limiting only the original speed limit, or limiting both the original required torque and the original speed limit simultaneously. If only the original required torque is limited, only the first torque range needs to be obtained, and the first torque coefficient can be derived from it. Only real-vehicle testing of the torque coefficient limiting the original required torque is required to obtain the set of torque coefficients that restore the safe driving level from level two to level one, i.e., the first torque range. Similarly, if only the original speed limit is limited, only the first speed range needs to be obtained, and the first speed coefficient can be derived from it. Only real-vehicle testing of the speed coefficient limiting the original speed limit is required to obtain the set of speed coefficients that restore the safe driving level from level two to level one, i.e., the first speed range. If both the original required torque and the original speed limit are limited simultaneously, from the perspective of improving data processing speed, both processes can be performed concurrently. Furthermore, from the perspective of improving vehicle driving safety, this application adopts a method that simultaneously limits the original required torque and the original vehicle speed.

[0067] Similar to the step of obtaining the first initial torque coefficient and / or the first initial vehicle speed coefficient as the safety limit coefficient corresponding to the second level, the step of obtaining the second initial torque coefficient and / or the second initial vehicle speed coefficient as the safety limit coefficient corresponding to the third level includes: obtaining a preset second torque range and / or a second vehicle speed range, arbitrarily selecting values ​​in the second torque range as the corresponding second torque coefficient, and / or arbitrarily selecting values ​​in the second vehicle speed range as the corresponding second vehicle speed coefficient. For example, the second torque range can be set to (0.2, 0.5), and the second vehicle speed range can be set to (0.3, 0.5). The second torque range and / or the second vehicle speed range can be obtained by: when the current vehicle's safety driving level is third level, conducting real-vehicle tests to limit the original required torque with the torque coefficient and / or the original limited vehicle speed with the vehicle speed coefficient, obtaining a set of torque coefficients and / or vehicle speed coefficients that can restore the safety driving level from third level to first level, i.e., the second torque range and / or the second vehicle speed range.

[0068] The vehicle's driving behavior can be gradually restored to normal, and the safe driving level can be restored from level three to level one, by limiting only the original required torque, limiting only the original speed limit, or limiting both the original required torque and the original speed limit simultaneously. If only the original required torque is limited, only the second torque range needs to be obtained, and the second torque coefficient can be derived from it. Only real-vehicle testing of the torque coefficient limiting the original required torque is required to obtain the set of torque coefficients that restore the safe driving level from level three to level one, i.e., the second torque range. Similarly, if only the original speed limit is limited, only the second speed range needs to be obtained, and the second speed coefficient can be derived from it. Only real-vehicle testing of the speed coefficient limiting the original speed limit is required to obtain the set of speed coefficients that restore the safe driving level from level three to level one, i.e., the second speed range. If both the original required torque and the original speed limit are limited simultaneously, from the perspective of improving data processing speed, both processes can be performed simultaneously. From the perspective of better improving vehicle driving safety, this application adopts the method of simultaneously limiting the original required torque and the original speed limit.

[0069] S2: If the driving safety level exceeds the preset level, then upon receiving the original required torque and / or original speed limit of the current vehicle, intervention is made on the original required torque and / or original speed limit based on the safety limit coefficient to control the driving action of the current vehicle.

[0070] It should be noted that the preset level can be the first level. If the current vehicle's safe driving level exceeds the first level, it is considered that the current vehicle is in an abnormal driving state, and intervention is required on the original required torque and / or the original speed limit. Otherwise, it may endanger the lives of the occupants of the vehicle.

[0071] An exemplary illustration shows that the step of intervening in the original required torque and / or original limited speed based on the safety limit coefficient includes: when the driving safety level is determined to be the second level, obtaining a first limited torque based on the product of the original required torque and the first torque coefficient, and / or obtaining a first limited speed based on the product of the original limited speed and the first speed coefficient; controlling the current vehicle based on the first limited torque and / or the first limited speed; when the driving safety level is determined to be the third level, obtaining a second limited torque based on the product of the original required torque and the second torque coefficient, and / or obtaining a second limited speed based on the product of the original limited speed and the second speed coefficient; controlling the current vehicle based on the second limited torque and / or the second limited speed.

[0072] It should be noted that after controlling the current vehicle according to the first limited torque and / or the first limited speed, it is also possible to detect whether the current vehicle's safe driving level has been restored from the second level to the first level. If yes, the intervention ends; if no, the next first torque coefficient is obtained according to the preset torque gradient, and / or the next first speed coefficient is obtained according to the preset speed gradient; the process returns to the steps of controlling the current vehicle according to the next first torque coefficient and / or the first speed coefficient and detecting whether the current vehicle's safe driving level has been restored from the second level to the first level.

[0073] In the above process, when obtaining each first torque coefficient and / or each first vehicle speed coefficient, they are obtained in descending order. This is because the larger the value of the first torque coefficient and / or the first vehicle speed coefficient, the larger the corresponding value of the first limit torque and / or the first limit speed. The difference between these values ​​and the original required torque and the original limit speed is smaller, and the intervention or restriction on the original required torque and / or the original limit speed is smaller. Conversely, the smaller the value of the first torque coefficient and / or the first vehicle speed coefficient, the greater the intervention or restriction on the original required torque and / or the original limit speed, and thus the higher the possibility that the current vehicle's safe driving level will be restored from level two to level one.

[0074] Similar to the process described above of intervening in the original required torque through the first torque coefficient and / or intervening in the original limited speed through the first speed coefficient, after controlling the current vehicle according to the second limited torque and / or the second limited speed, it is also possible to detect whether the current vehicle's safe driving level has recovered from the third level to the first level. If yes, the intervention ends; if no, the next second torque coefficient is obtained according to the preset torque gradient, and / or the next second speed coefficient is obtained according to the preset speed gradient; the process returns to the step of controlling the current vehicle according to the next first torque coefficient and / or the first speed coefficient, and detecting whether the current vehicle's safe driving level has recovered from the second level to the first level.

[0075] In the above process, when obtaining each second torque coefficient and / or each second vehicle speed coefficient, they are obtained in descending order. This is because the larger the value of the second torque coefficient and / or the second vehicle speed coefficient, the larger the corresponding value of the second limit torque and / or the second limit speed. The smaller the difference between these values ​​and the original required torque and the original limit speed, the less intervention or restriction there is on the original required torque and / or the original limit speed. Conversely, the smaller the value of the second torque coefficient and / or the second vehicle speed coefficient, the greater the intervention or restriction on the original required torque and / or the original limit speed, thus increasing the likelihood that the current vehicle's safe driving level will be restored from level three to level one.

[0076] In some implementations, abnormal vehicle behavior can be improved by intervening only in the original required torque or only in the original speed limit; however, from the perspective of better improving vehicle driving safety, this application adopts a method that simultaneously limits both the original required torque and the original speed limit. In addition to intervening in the original required torque and / or the original speed limit, warning information can also be provided through the in-vehicle infotainment system (IVI) or integrated circuit (IC), and vehicle warning lights can be flashed.

[0077] In a preferred embodiment, before intervening in the original required torque and / or original speed limit based on the safety limit coefficient, the safety limit coefficient can be adjusted based on real-time weather conditions to improve scenario adaptability and further enhance vehicle driving safety. The method further includes: collecting weather information of the area where the vehicle is currently located; when the weather information indicates preset weather, determining a first adjustment coefficient corresponding to the preset weather, wherein the preset weather is weather unfavorable to the normal driving of the current vehicle; and adjusting the safety limit coefficient according to the first adjustment coefficient when the driving safety level exceeds the preset level. It should be noted that the preset weather includes rain, snow, hail, and smog, etc. The first adjustment coefficient can be determined based on different amounts of rainfall, snowfall, hail, and smog levels, thereby adjusting the safety limit coefficient according to the first adjustment coefficient when the driving safety level is at level two or three, and then intervening in the original required torque and / or original speed limit based on the adjusted safety limit coefficient. The first adjustment coefficient can be obtained through real-vehicle testing in rainy, snowy, hailous, and smog weather.

[0078] In another preferred embodiment, before intervening in the original required torque and / or original speed limit based on the safety limit coefficient, the safety limit coefficient can be adjusted based on real-time road conditions to improve scenario adaptability and further enhance vehicle driving safety. The method further includes: collecting road information of the area where the current vehicle is located; when the road information indicates a preset road, determining a second adjustment coefficient corresponding to the preset road, wherein the preset road is a road unfavorable to the normal driving of the current vehicle; if the current road condition indicates a preset road, then when the driving safety level exceeds the preset level, adjusting the safety limit coefficient according to the second adjustment coefficient, and then intervening in the original required torque and / or original speed limit based on the adjusted safety limit coefficient. It should be noted that preset roads include curves, mountain roads, bouncy roads, and slopes with a gradient greater than a preset gradient, etc., wherein the second adjustment coefficient can be obtained through real-vehicle testing on curves, mountain roads, bouncy roads, and slopes with a gradient greater than a preset gradient.

[0079] In one applicable scenario, the degree of intervention on the current vehicle can also be determined based on user feedback, improving the user experience. Specifically, after intervening in the original required torque and / or original speed limit based on the safety limit coefficient, the method further includes: outputting intervention prompt information, wherein the intervention prompt information is used to inform the user that the current vehicle has automatically intervened in the user's operation; receiving feedback information input by the user regarding the intervention prompt information, wherein the feedback information is used to indicate whether the user accepts the intervention and how to adjust the intervention measures; adjusting the safety limit coefficient based on the feedback information, and then intervening in the original required torque and / or original speed limit based on the adjusted safety limit coefficient. It should be noted that the intervention prompt information includes the torque and / or speed obtained after intervening in the original required torque and / or original speed limit based on the safety limit coefficient; that is, when the driving safety level is level two, the intervention prompt information includes a first limited torque and / or a first limited speed, and when the driving safety level is level three, the intervention prompt information includes a second limited torque and / or a second limited speed.

[0080] In the above-mentioned intervention method for abnormal driving, the current driving safety level of the vehicle and its corresponding safety limit coefficient are determined. If the driving safety level exceeds the preset level, it indicates that the current vehicle is driving abnormally. When the original required torque and / or the original limited speed are received, intervention is carried out on the original required torque and / or the original limited speed based on the safety limit coefficient to control the current vehicle's driving action, so that the current vehicle gradually returns to normal driving from abnormal driving. To a certain extent, this avoids the current vehicle being in an uncontrollable risky state and the occurrence of safety accidents, thereby improving the safety of vehicle driving.

[0081] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0082] In the second embodiment, refer to Figure 2 An intervention device for abnormal driving is provided, the device including a vehicle controller, wherein the vehicle controller includes:

[0083] The preprocessing unit is used to determine the current driving safety level of the vehicle and the safety limit coefficient corresponding to the driving safety level;

[0084] The control unit is configured to intervene in the original required torque and / or original speed limit based on the safety limit coefficient when it receives the original required torque and / or original speed limit of the current vehicle if the driving safety level exceeds the preset level.

[0085] Specifically, refer to Figure 3 The device further includes a data acquisition unit electrically connected to the preprocessing unit, wherein the data acquisition unit is used to acquire the driver's seat information and driving information of the current vehicle, the driver's seat information is used to indicate the status of each component of the driver's seat, and the driving information includes the driving parameters of the current vehicle; the preprocessing unit is also used to determine the driving safety level and the safety limit coefficient corresponding to the driving safety level based on the driver's seat information and the driving information.

[0086] Specifically, the acquisition unit is also used to acquire the door status, seat belt status, seat sensor status, and steering wheel detection status of the driver's seat, and preprocess the door status, seat belt status, seat sensor status, and steering wheel detection status to obtain the driver's seat information. The steering wheel detection status is used to indicate whether the driver has taken their hands off the steering wheel. The unit also acquires the accelerator pedal opening and vehicle speed validity. The preprocessing unit is further used to determine whether the vehicle speed validity is a preset validity, where the vehicle speed validity indicates that the sensor-acquired vehicle speed is valid. If yes, the accelerator pedal opening and the sensor-acquired vehicle speed are determined as the driving information. If no, the acquisition unit also acquires a first rotational speed of the motor controlling the front axle and a second rotational speed of the motor controlling the rear axle. The preprocessing unit is further used to obtain an estimated vehicle speed based on the first rotational speed and the second rotational speed, and to determine the accelerator pedal opening and the estimated vehicle speed as the driving information.

[0087] Specifically, the step of the preprocessing unit determining the driving safety level and the safety limit coefficient corresponding to the driving safety level based on the driver's seat information and the driving information includes: obtaining a preset vehicle speed threshold, a first duration, and an accelerator pedal opening range; if the door status indicates the door is closed, the seat belt status indicates the seat belt is fastened, the seat sensor status indicates the driver is sitting in the driver's seat, the steering wheel detection status indicates the driver has not taken their hands off the steering wheel; and the accelerator pedal opening is within the accelerator pedal opening range and continues for the first duration, and the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, then the driving safety level is determined to be the first level, wherein the first level does not exceed the preset level;

[0088] If any of the following conditions are met: the door status indicates the door is open; the seatbelt status indicates the seatbelt is not fastened; the seat sensor status indicates the driver is not sitting in the driver's seat; the steering wheel detection status indicates the driver has taken their hands off the steering wheel for the second duration threshold; and the accelerator pedal opening is within the accelerator pedal opening range for the first duration; and the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, the driving safety level is determined to be the second level, and a first initial torque coefficient and / or a first initial vehicle speed coefficient are obtained as the safety limit coefficient corresponding to the second level, wherein the safety of the second level is lower than that of the first level;

[0089] If any two of the following conditions are met: the door status indicates the door is open; the seatbelt status indicates the seatbelt is not fastened; the seat sensor status indicates the driver is not sitting in the driver's seat; the steering wheel detection status indicates the driver has taken their hands off the steering wheel for the second duration threshold; and the accelerator pedal opening is within the accelerator pedal opening range for the first duration, and the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, the driving safety level is determined to be level three, and a second initial torque coefficient and / or a second initial vehicle speed coefficient are obtained as the safety limit coefficient corresponding to level three, wherein the safety of level three is lower than that of level two.

[0090] Specifically, the step of the control unit intervening in the original required torque and / or the original limited speed based on the safety limit coefficient includes: when the driving safety level is determined to be the second level, obtaining a first limited torque based on the product of the original required torque and the first torque coefficient, and / or obtaining a first limited speed based on the product of the original limited speed and the first speed coefficient; controlling the current vehicle based on the first limited torque and / or the first limited speed; when the driving safety level is determined to be the third level, obtaining a second limited torque based on the product of the original required torque and the second torque coefficient, and / or obtaining a second limited speed based on the product of the original limited speed and the second speed coefficient; controlling the current vehicle based on the second limited torque and / or the second limited speed.

[0091] Specifically, before the control unit intervenes in the original required torque and / or original speed limit based on the safety limit coefficient, the acquisition unit is also used to acquire weather information of the area where the current vehicle is located; when the weather information indicates preset weather, the preprocessing unit determines a first adjustment coefficient corresponding to the preset weather, wherein the preset weather is weather that is unfavorable to the normal driving of the current vehicle; when the driving safety level exceeds the preset level, the safety limit coefficient is adjusted according to the first adjustment coefficient.

[0092] Specifically, before the control unit intervenes in the original required torque and / or original speed limit based on the safety limit coefficient, the acquisition unit is also used to acquire road information of the area where the current vehicle is located; when the road information indicates a preset road, the preprocessing unit determines a second adjustment coefficient corresponding to the preset road, wherein the preset road is a road that is unfavorable to the normal driving of the current vehicle; if the current road condition indicates a preset road, then when the driving safety level exceeds the preset level, the safety limit coefficient is adjusted according to the second adjustment coefficient.

[0093] Specifically, before the control unit intervenes in the original required torque and / or original speed limit based on the safety limit coefficient, the control unit is also used to output intervention prompt information, wherein the intervention prompt information is used to prompt the user that the current vehicle has automatically intervened in the user's operation; the preprocessing unit is also used to receive feedback information input by the user in response to the intervention prompt information, wherein the feedback information is used to indicate whether the user accepts the intervention and the adjustment method for the intervention measure; and the safety limit coefficient is adjusted according to the feedback information.

[0094] Specific limitations regarding intervention devices for abnormal driving can be found in the limitations of intervention methods for abnormal driving described above, and will not be repeated here. Each module in the aforementioned intervention device for abnormal driving can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0095] In a third embodiment, a vehicle is provided, wherein the vehicle includes an abnormal driving intervention device as described in any one of the second embodiments, the abnormal driving intervention device being used to perform the steps of the abnormal driving intervention method as described in any one of the first embodiments.

[0096] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0097] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An intervention method for an abnormal driving, characterized by, The method comprises: determining a driving safety level of a current vehicle and a safety limiting coefficient corresponding to the driving safety level; the safety limiting coefficient comprises a preset torque interval and / or a vehicle speed interval; if the driving safety level exceeds a preset level, when an original demand torque and / or an original limiting vehicle speed of the current vehicle are received, intervening in the original demand torque and / or the original limiting vehicle speed based on the safety limiting coefficient to control driving actions of the current vehicle; the intervention in the original demand torque and / or the original limiting vehicle speed based on the safety limiting coefficient comprises: selecting a torque coefficient from the torque interval in descending order to intervene in the original demand torque, and ending the intervention when the driving safety level of the vehicle is detected to return to not exceeding the preset level, otherwise selecting a next new torque coefficient from the torque interval to intervene; and / or, selecting a vehicle speed coefficient from the vehicle speed interval in descending order to intervene in the original limiting vehicle speed, and ending the intervention when the driving safety level of the vehicle is detected to return to not exceeding the preset level, otherwise selecting a next new vehicle speed coefficient from the vehicle speed interval to intervene.

2. The abnormal travel intervention method according to claim 1, characterized by, The step of determining the driving safety level of the current vehicle and the safety limiting coefficient corresponding to the driving safety level comprises: collecting driving seat information of the current vehicle and driving information, wherein the driving seat information is used to indicate the state of each component of the driving seat, and the driving information comprises driving parameters of the current vehicle; determining the driving safety level and the safety limiting coefficient corresponding to the driving safety level according to the driving seat information and the driving information.

3. The abnormal travel intervention method according to claim 2, characterized by, The step of collecting the driving seat information of the current vehicle and the driving information comprises: collecting a door state, a seat belt state, a seat sensor state and a steering wheel detection state of the driving seat, and preprocessing the door state, the seat belt state, the seat sensor state and the steering wheel detection state to obtain the driving seat information, wherein the steering wheel detection state is used to indicate whether the driver has taken his hands off the steering wheel; collecting an accelerator pedal opening degree and a vehicle speed valid bit, and judging whether the vehicle speed valid bit is a preset valid bit, wherein the vehicle speed valid bit is used to indicate a sensor collected sensor vehicle speed; if yes, determining the accelerator pedal opening degree and the sensor vehicle speed as the driving information; if no, collecting a first rotation speed of a motor for controlling a front axle and a second rotation speed of a motor for controlling a rear axle, obtaining an estimated vehicle speed based on the first rotation speed and the second rotation speed, and determining the accelerator pedal opening degree and the estimated vehicle speed as the driving information.

4. The abnormal travel intervention method according to claim 3, characterized by, The step of determining the driving safety level and the safety limiting coefficient corresponding to the driving safety level according to the driving seat information and the driving information comprises: obtaining a preset vehicle speed threshold, a first time length and an accelerator pedal opening degree interval; If the door state indicates that the door is closed, the seat belt state indicates that the seat belt is buckled, the seat sensor state indicates that the driver is seated on the seat of the driver's seat, the steering wheel detection state indicates that the driver does not take off the steering wheel, and the accelerator pedal opening degree is in the accelerator pedal opening degree interval and lasts for the first time length, the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, it is determined that the driving safety level is a first level, wherein the first level does not exceed the preset level. If any one of the following conditions is met: the door state indicates that the door is open, the seat belt state indicates that the seat belt is not buckled, the seat sensor state indicates that the driver is not seated on the seat of the driver's seat, the steering wheel detection state indicates that the driver takes off the steering wheel and lasts for a second time length threshold, and the accelerator pedal opening degree is in the accelerator pedal opening degree interval and lasts for the first time length, the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, it is determined that the driving safety level is a second level, and the first initial torque coefficient and / or the first initial vehicle speed coefficient are obtained as the safety limiting coefficient corresponding to the second level, wherein the safety of the second level is lower than that of the first level. If any two of the following conditions are met: the door state indicates that the door is open, the seat belt state indicates that the seat belt is not buckled, the seat sensor state indicates that the driver is not seated on the seat of the driver's seat, the steering wheel detection state indicates that the driver takes off the steering wheel and lasts for the second time length threshold, and the accelerator pedal opening degree is in the accelerator pedal opening degree interval and lasts for the first time length, the sensed vehicle speed or the estimated vehicle speed is greater than the vehicle speed threshold, it is determined that the driving safety level is a third level, and the second initial torque coefficient and / or the second initial vehicle speed coefficient are obtained as the safety limiting coefficient corresponding to the third level, wherein the safety of the third level is lower than that of the second level.

5. The abnormal travel intervention method according to claim 4, characterized by The step of interfering with the original demand torque and / or original limit speed based on the safety limiting coefficient comprises: When it is determined that the driving safety level is the second level, a first limit torque is obtained according to the product of the original demand torque and the first initial torque coefficient, and / or a first limit speed is obtained according to the product of the original limit speed and the first initial vehicle speed coefficient; According to the first limit torque and / or the first limit speed, the current vehicle is controlled; When it is determined that the driving safety level is the third level, a second limit torque is obtained according to the product of the original demand torque and the second initial torque coefficient, and / or a second limit speed is obtained according to the product of the original limit speed and the second initial vehicle speed coefficient; According to the second limit torque and / or the second limit speed, the current vehicle is controlled.

6. The abnormal travel intervention method according to claim 1, characterized by, Before the step of interfering with the original demand torque and / or original limit speed based on the safety limiting coefficient, the method further comprises: Collecting weather information of the area where the current vehicle is located; determining a first adjustment coefficient corresponding to the preset weather when the weather information indicates the preset weather, wherein the preset weather is weather that is not conducive to normal driving of the current vehicle; adjusting the safety limit coefficient according to the first adjustment coefficient when the driving safety level exceeds the preset level.

7. The abnormal travel intervention method according to claim 1, characterized by, Before the intervention on the original demand torque and / or original limit speed based on the safety limit coefficient, the method further comprises: collecting road information of an area where the current vehicle is located; determining a second adjustment coefficient corresponding to the preset road when the road information indicates the preset road, wherein the preset road is a road that is not conducive to normal driving of the current vehicle; adjusting the safety limit coefficient according to the second adjustment coefficient when the driving safety level exceeds the preset level if the current road condition indicates the preset road.

8. The abnormal travel intervention method according to claim 1, characterized by, After the intervention on the original demand torque and / or original limit speed based on the safety limit coefficient, the method further comprises: outputting intervention prompt information, wherein the intervention prompt information is used to prompt a user that the current vehicle has automatically intervened in the user's operation; receiving feedback information input by the user in response to the intervention prompt information, wherein the feedback information is used to indicate whether the user accepts the intervention and an adjustment manner of the intervention measure; adjusting the safety limit coefficient according to the feedback information.

9. An abnormal travel intervention device characterized by comprising: The device comprises a vehicle controller, wherein the vehicle controller comprises: a preprocessing unit configured to determine a driving safety level of a current vehicle and a safety limit coefficient corresponding to the driving safety level; the safety limit coefficient comprises a preset torque range and / or a speed range; a control unit configured to, if the driving safety level exceeds a preset level, intervene in an original demand torque and / or an original limit speed of the current vehicle based on the safety limit coefficient when the original demand torque and / or the original limit speed is received; the intervention in the original demand torque and / or the original limit speed based on the safety limit coefficient comprises: selecting a torque coefficient from the torque range in descending order to intervene in the original demand torque, ending the intervention when it is detected that the driving safety level of the vehicle returns to not exceeding the preset level, or otherwise selecting a next new torque coefficient from the torque range to intervene; and / or selecting a speed coefficient from the speed range in descending order to intervene in the original limit speed, ending the intervention when it is detected that the driving safety level of the vehicle returns to not exceeding the preset level, or otherwise selecting a next new speed coefficient from the speed range to intervene.

10. A vehicle characterized by comprising: The vehicle comprises the intervention device for abnormal driving according to claim 9, wherein the intervention device for abnormal driving is configured to perform the steps of the intervention method for abnormal driving according to any one of claims 1 to 8.

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