Vehicle abnormity prompting method, vehicle, storage medium and product

Abstract

The invention discloses a vehicle abnormity prompting method, a vehicle, a storage medium and a product, and relates to the technical field of vehicles, the method comprises the following steps: monitoring each target function participating in vehicle control in a vehicle driving process in real time; when it is monitored that the abnormal function exists in the target functions, the abnormal type of the vehicle is determined based on the abnormal function, and a moving part of a driving seat on the vehicle is selected according to the abnormal type; and the vehicle is prompted to be abnormal by controlling vibration of the moving part. It can be understood that the moving part of the seat is vibrated, prompt information can be sent to a driver from the perspective of touch, the prompt force is increased, prompt is more visual, and the driver can rapidly switch from a loose state to an alert state to take over a vehicle; the service time of the auxiliary driving or automatic driving function with faults is shortened as much as possible, and the safety risk of vehicle use is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle abnormality prompt method, a vehicle, a storage medium and a product. Background Art

[0002] With the development of assisted driving and autonomous driving, vehicles are becoming less and less dependent on drivers during driving, which makes it easy for drivers to relax their vigilance while driving. However, it should be noted that vehicles will inevitably fail during assisted driving or autonomous driving, which will make the original driving functions of the vehicle unable to be used normally. If the assisted driving or autonomous driving functions that have failed are continued to be used, passengers will be in a high safety risk situation.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of this application is to provide a vehicle abnormality prompt method, vehicle, storage medium and product, aiming to solve the technical problem that when there is a failure in the assisted driving or automatic driving process, if the faulty assisted driving or automatic driving function continues to be used, the passengers will be put in a situation with high safety risks.

[0005] To achieve the above purpose, the present application proposes a vehicle abnormality prompt method, which comprises the following steps:

[0006] Real-time monitoring of various target functions involved in vehicle control during vehicle driving;

[0007] In the case where an abnormal function is detected in each of the target functions, determining an abnormal type of the vehicle based on the abnormal function, and selecting a moving part of a driver's seat on the vehicle according to the abnormal type;

[0008] By controlling the vibration of the moving part, it is indicated that there is an abnormality in the vehicle.

[0009] Optionally, the step of selecting a moving part of the driver's seat on the vehicle according to the abnormality type includes:

[0010] When the abnormality type of the vehicle is abnormal control, selecting a hip support part of the driver's seat as the movement part;

[0011] When the abnormality type of the vehicle is non-control abnormality, a back support portion of the driver's seat is selected as the moving portion.

[0012] Optionally, the step of determining the abnormality type of the vehicle based on the abnormal function includes:

[0013] When the abnormal function is a braking function, an acceleration function, a steering assist function, a lighting function, or an environment sensing function, determining that the abnormal type of the vehicle is a control abnormality;

[0014] In a case where the abnormal function is an air conditioning function, a seat adjustment function or a window adjustment function, it is determined that the abnormal type of the vehicle is a non-control abnormality.

[0015] Optionally, the step of real-time monitoring of various target functions involved in vehicle control during vehicle driving includes:

[0016] In the case where the target function is an environmental perception function, monitoring an image difference between a first environmental image acquired by the environmental perception function at a current sampling point and a second environmental image acquired by the environmental perception function at a previous sampling point;

[0017] If the image difference is greater than a preset difference threshold, the environmental perception function is determined to be an abnormal function, wherein the preset difference threshold is determined by the sampling interval between the current sampling point and the previous sampling point and the real-time vehicle speed, and the larger the sampling interval, the larger the preset difference threshold, and the faster the real-time vehicle speed, the larger the preset difference threshold.

[0018] Optionally, the step of real-time monitoring of various target functions involved in vehicle control during vehicle driving also includes:

[0019] When the target function is a power steering function, monitoring a rotation torque applied by a driver to a steering wheel of the vehicle, and a rotation speed of the steering wheel under the action of the rotation torque;

[0020] A target torque range is determined according to the rotation speed, and if the rotation torque is not within the target torque range, the steering assist function is determined to be an abnormal function.

[0021] Optionally, the step of real-time monitoring of various target functions involved in vehicle control during vehicle driving also includes:

[0022] When the target function is a braking function, monitoring a first vehicle speed change of the vehicle after the vehicle is braked by the braking function;

[0023] If the first vehicle speed change is less than a first preset change threshold, determining that the braking function is an abnormal function, wherein the first preset change threshold is determined by a braking signal generated by the braking function when braking the vehicle;

[0024] When the target function is an acceleration function, monitoring a second vehicle speed change of the vehicle after the vehicle is accelerated by the acceleration function;

[0025] If the second vehicle speed change is less than a second preset change threshold, the acceleration function is determined to be an abnormal function, wherein the second preset change threshold is determined by an acceleration signal sent by the acceleration function to accelerate the vehicle.

[0026] Optionally, after the step of real-time monitoring of each target function involved in vehicle control during vehicle driving, the method further comprises:

[0027] When an abnormal function is detected in the target functions, voice prompt information of the vehicle abnormality is output through the audio device of the vehicle, and / or image prompt information of the vehicle abnormality is output through the display device of the vehicle.

[0028] In addition, to achieve the above purpose, the present application also proposes a vehicle abnormality prompting device, the vehicle abnormality prompting device comprising:

[0029] A monitoring module is used to monitor in real time various target functions involved in vehicle control during vehicle driving;

[0030] a determination module, configured to, when detecting an abnormal function among the target functions, determine an abnormal type of the vehicle based on the abnormal function, and select a moving part of the driver's seat on the vehicle according to the abnormal type;

[0031] The prompt module is used to prompt that the vehicle has an abnormality by controlling the vibration of the moving part.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle, the device comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle abnormality prompt method as described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the vehicle abnormality prompt method described above are implemented.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle abnormality prompt method described above are implemented.

[0035] One or more technical solutions proposed in this application have at least the following technical effects:

[0036] In the embodiment of the present application, each target function involved in the vehicle control during the driving process of the vehicle is monitored in real time; when the abnormal function is detected in each target function, the abnormal type of the vehicle is determined based on the abnormal function, and the moving part of the driver's seat on the vehicle is selected according to the abnormal type; by controlling the vibration of the moving part, the vehicle is prompted to be abnormal. That is, in this embodiment, the vehicle will monitor each target function of the vehicle in real time during driving. If the abnormal function is detected in each target function, the abnormal type is determined by the abnormal function, and the moving part of the driver's seat of the vehicle is selected according to the abnormal type, and then the vibration of the moving part is controlled to achieve the purpose of prompting the driver that the vehicle has an abnormality. It can be understood that the moving part of the vibrating seat can send prompt information to the driver from the perspective of touch, increase the intensity of the prompt and make the prompt more intuitive, so that the driver can quickly switch from a loose state to a vigilant state to take over the vehicle, so as to minimize the use time of the auxiliary driving or automatic driving function that fails, and reduce the safety risk of using the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] Figure 1 This is a flow chart of the first embodiment of the vehicle abnormality prompt method of the present application;

[0040] Figure 2 This is a flow chart of the second embodiment of the vehicle abnormality prompt method of the present application;

[0041] Figure 3 This is a flow chart of the third embodiment of the vehicle abnormality prompt method of the present application;

[0042] Figure 4 This is a schematic diagram of the overall process framework of the vehicle abnormality prompt method of this application;

[0043] Figure 5 This is a schematic diagram of the structure corresponding to the vehicle abnormality prompting device of this application;

[0044] Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle abnormality prompt method in the embodiment of the present application.

[0045] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0047] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0048] With the development of assisted driving and autonomous driving, vehicles are becoming less and less dependent on drivers during driving, which makes it easy for drivers to relax their vigilance while driving. However, it should be noted that vehicles will inevitably fail during assisted driving or autonomous driving, which will make the original driving functions of the vehicle unable to be used normally. If the assisted driving or autonomous driving functions that have failed are continued to be used, passengers will be in a high safety risk situation.

[0049] The main solution of the embodiment of the present application is: to monitor in real time the various target functions involved in vehicle control during vehicle driving; when abnormal functions are detected in the target functions, determine the abnormality type of the vehicle based on the abnormal functions, and select the moving part of the driver's seat on the vehicle according to the abnormality type; and prompt the vehicle to have an abnormality by controlling the vibration of the moving part.

[0050] That is, in this embodiment, the vehicle will monitor each target function of the vehicle in real time during driving. If an abnormal function is detected in each target function, the abnormal type is determined by the abnormal function, and the moving part of the driver's seat of the vehicle is selected according to the abnormal type, and then the vibration of the moving part is controlled to achieve the purpose of prompting the driver that the vehicle has an abnormality. It can be understood that the moving part of the vibrating seat can send prompt information to the driver from a tactile perspective, which increases the intensity of the prompt and makes the prompt more intuitive, allowing the driver to quickly switch from a relaxed state to an alert state to take over the vehicle, so as to minimize the use time of the assisted driving or automatic driving function that has a fault and reduce the safety risk of using the vehicle.

[0051] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a cloud platform, vehicle, computer, mobile phone, etc., or a vehicle that can realize the above functions.

[0052] Based on this, the embodiment of the present application provides a vehicle abnormality prompt method, referring to Figure 1 , which is a flow chart of the first embodiment of the vehicle abnormality prompt method of the present application.

[0053] In this embodiment, the vehicle abnormality prompt method includes steps S10 to S30:

[0054] Step S10, real-time monitoring of various target functions involved in vehicle control during vehicle driving;

[0055] It should be noted that, in this embodiment, the execution subject of the above vehicle abnormality prompt method can be a vehicle. The driving process of the above vehicle can be the driving process of the vehicle completely under the control of the driver, the driving process of the vehicle with the auxiliary driving function turned on, or the driving process of the vehicle with the automatic driving function turned on.

[0056] Exemplarily, the vehicle can monitor in real time the various target functions that participate in the vehicle control during driving according to a preset frequency. Among them, the target function can be a function related to the vehicle driving control, for example, the braking function and acceleration function of the vehicle, etc., or it can be a function related to the vehicle driving experience, such as the air conditioning function and the seat adjustment function, etc. The specific monitoring target function can be set by the technician according to the needs. Taking the braking function as an example, if the vehicle is in the auxiliary driving mode or the automatic driving mode, the main control (ECU, Electronic Control Unit) of the vehicle decides that the vehicle should slow down in the current driving environment according to the pre-controlled strategy, and accordingly, the main control issues a braking command. At the same time, the driving speed of the vehicle is monitored in real time. If the monitored driving speed does not decrease, or the reduction is too small, less than the pre-set vehicle speed change threshold, it can be considered that the braking function of the vehicle is abnormal. Similarly, the above-mentioned acceleration function can also be monitored in the above manner, so it will not be repeated here.

[0057] Step S20, when an abnormal function is detected among the target functions, determining the abnormal type of the vehicle based on the abnormal function, and selecting a moving part of the driver's seat on the vehicle according to the abnormal type;

[0058] It should be noted that the above abnormal types can be manipulated abnormal types and non-manipulated abnormal types. The above driver's seat refers to a seat with a massage function. Therefore, the driver's seat is provided with a movable part. Usually, according to the fit between the driver and the seat, the movable part of the driver's seat can be divided into a part supporting the driver's buttocks and a part supporting the driver's waist. In addition to being used for conventional massage, this part can also send prompt information to the driver through vibration.

[0059] Exemplarily, when abnormal functions are detected in each target function, the abnormal type of the vehicle is first determined based on the abnormal function. The abnormal type is mainly related to whether the vehicle is controlled. For example, if the abnormal function is a function that is strongly related to vehicle control, such as a braking function or an acceleration function, it can be considered to be a control abnormal type. On the contrary, if it is not related to control, it can be considered to be a non-control fault type. It is understandable that since the control abnormal type will affect the safety of the vehicle, when the control abnormal type is selected, the moving part of the driver's seat can be selected as the part that supports the driver's buttocks (because, when the driver is in the driving position, his buttocks will basically remain in contact with the seat), or the part that supports the driver's buttocks and the part that supports the driver's waist can be selected (which can maximize the driver's feeling area).

[0060] Step S30, prompting that the vehicle is abnormal by controlling the vibration of the moving part.

[0061] Correspondingly, the determined moving parts can be controlled to vibrate, thereby prompting the vehicle that there is an abnormality. It is worth noting that in actual applications, the driver may also turn on the original massage function of the seat while driving. Therefore, in order to distinguish whether the vibration of the seat is the original massage function or the prompt information, different vibration frequencies can be set for the two functions. For example, the vibration frequency during the prompt can be greater than the frequency during the massage, and the frequency is greater than the preset frequency threshold, so as to make a clear distinction. It can be understood that in this embodiment, by controlling the moving parts of the seat to vibrate, and from the perspective of touch, a prompt information is sent to the driver, the intensity of the prompt is increased, and the driver can switch from a relaxed state to an alert state more quickly to control or take over the vehicle.

[0062] It is understood that in this embodiment, each target function involved in vehicle control during vehicle driving is monitored in real time; when abnormal functions are detected in each target function, the abnormal type of the vehicle is determined based on the abnormal function, and the moving part of the driver's seat on the vehicle is selected according to the abnormal type; by controlling the vibration of the moving part, the vehicle is prompted to have an abnormality. That is, in this embodiment, the vehicle will monitor each target function of the vehicle in real time during driving. If abnormal functions are detected in each target function, the abnormal type is determined by the abnormal function, and the moving part of the driver's seat of the vehicle is selected according to the abnormal type, and then the vibration of the moving part is controlled to achieve the purpose of prompting the driver that the vehicle has an abnormality. It is understood that the moving part of the vibrating seat can send prompt information to the driver from the perspective of touch, increase the intensity of the prompt and make the prompt more intuitive, so that the driver can quickly switch from a relaxed state to a vigilant state to take over the vehicle, so as to minimize the use time of the assisted driving or automatic driving function that has a fault, and reduce the safety risk of using the vehicle.

[0063] In a feasible implementation manner, the step of selecting the moving part of the driver's seat on the vehicle according to the abnormality type includes steps S221 to S222:

[0064] Step S221, when the abnormality type of the vehicle is abnormal control, selecting a hip support part of the driver's seat as the movement part;

[0065] Step S222, when the abnormality type of the vehicle is non-control abnormality, select the back support part of the driver's seat as the movement part.

[0066] For example, when the driver is in the driving position, his buttocks will basically be in contact with the seat, but his back may not be in contact with the seat. Therefore, when the abnormality type of the vehicle is determined to be a control abnormality, the buttocks support part of the driver's seat can be selected as the moving part to ensure that the prompt information can be perceived by the driver in the first place. Conversely, when the abnormality type of the vehicle is a non-control abnormality, such as abnormal air conditioning function, abnormal seat adjustment function, etc., the back support part of the driver's seat can be selected as the above-mentioned moving part to distinguish the prompt of the control abnormality.

[0067] In a feasible implementation manner, the step of determining the abnormal type of the vehicle based on the abnormal function includes steps S211 to S212:

[0068] Step S211, when the abnormal function is a braking function, an acceleration function, a steering assist function, a lighting function or an environment sensing function, determining that the abnormal type of the vehicle is a control abnormality;

[0069] Step S212: when the abnormal function is an air conditioning function, a seat adjustment function or a window adjustment function, determining that the abnormal type of the vehicle is a non-control abnormality.

[0070] Exemplarily, when the abnormal function monitored is braking, acceleration, steering assistance, lighting or environmental perception, the abnormal type can be determined as abnormal operation. Among them, the steering assistance function is used to help the driver steer the vehicle. For example, the driver applies torque to the steering wheel, and the steering assistance function controls the steering assistance motor to apply power torque in the same direction, thereby helping the driver to turn the steering wheel. If the steering assistance function is abnormal, it may affect the sensitivity of vehicle control. In addition to lighting, the lighting function is also used for information indication such as turn signals. When the turn signal is abnormal, it may not be able to convey the correct indication information to the outside world, which will also affect vehicle control and safety. The environmental perception function can be used for environmental collection in assisted driving or automatic driving, such as collecting image information through a camera, obtaining the distance to obstacles through a radar, etc. When the environmental perception function is abnormal, it will directly affect the driving decision of assisted driving or automatic driving, so it will seriously affect the safety of the vehicle. Therefore, after the above-mentioned types of functional abnormalities are detected in the vehicle, the abnormal type of the vehicle can be determined as abnormal operation. On the contrary, if the abnormal function of the vehicle is not the above-mentioned braking function, acceleration function, steering assist function, lighting function and environmental perception function, that is, the abnormal function is the air conditioning function, seat adjustment function or window adjustment function, then it can be determined that the abnormal type of the vehicle is non-control abnormality.

[0071] In a feasible implementation manner, after the step of real-time monitoring of each target function involved in vehicle control during vehicle driving, the method further includes step S01:

[0072] Step S01, when an abnormal function is detected in the target functions, a voice prompt message of the abnormal vehicle is output through the audio device of the vehicle, and / or an image prompt message of the abnormal vehicle is output through the display device of the vehicle.

[0073] It should be noted that, in this embodiment, in addition to prompting the driver through tactile sense that there is an abnormality in the vehicle, the driver will also be prompted from the perspective of hearing and vision.

[0074] Exemplarily, when abnormal functions are detected in each target function, the voice prompt information of the vehicle abnormality is output through the vehicle's audio device, wherein the voice prompt information may include the specific name of the abnormal function and the corresponding countermeasures. Image prompt information of the vehicle abnormality can also be output through the vehicle's display device, wherein the display device can be the vehicle's dashboard or a head-up display. In actual applications, voice prompt information and image prompt information can be output at the same time, or one of them can be selected. It is understandable that prompting by vibration can make the driver realize the need to take over the vehicle or drive carefully at the first time, while voice prompt information and image prompt information can inform the driver of the specific content of the abnormality, thereby providing prompts in all aspects to ensure the effectiveness of the prompts.

[0075] In a feasible implementation manner, when an abnormal function is detected in each of the target functions, the vehicle abnormality prompt method further includes:

[0076] When the windows of the vehicle are closed, the windows of the vehicle are controlled to open to indicate that an abnormality exists in the vehicle.

[0077] It should be noted that in actual applications, some drivers may choose to wear headphones while driving, which may make it difficult for the driver to hear the abnormal alarm prompt sound emitted by the vehicle. Therefore, in order to ensure that the driver is aware of the abnormality at the first time after the vehicle is abnormal, in this embodiment, the vehicle windows will be controlled to open the windows when the vehicle windows are closed to prompt the driver. It is understandable that if the windows are opened while the vehicle is driving, it will cause changes in hearing and touch. For example, when the windows are opened, a large wind noise will be generated, and due to the different pressures inside and outside the vehicle, wind will be generated to blow into the car, which will be perceived by the driver. It is understandable that whether it is wind noise or wind perceived by the driver, since the driver himself does not open the window, it can be regarded as an abnormal feeling by the driver, so that even if the driver wears headphones, the driver can still be prompted.

[0078] In a feasible implementation manner, the step of real-time monitoring of various target functions involved in vehicle control during vehicle driving also includes steps S111 to S114:

[0079] Step S111, when the target function is a braking function, monitoring a first vehicle speed change of the vehicle after the vehicle is braked by the braking function;

[0080] Step S112, if the first vehicle speed change is less than a first preset change threshold, determining that the braking function is an abnormal function, wherein the first preset change threshold is determined by a braking signal generated by the braking function when braking the vehicle;

[0081] Step S113, when the target function is an acceleration function, monitoring a second vehicle speed change of the vehicle after the vehicle is accelerated by the acceleration function;

[0082] Step S114: if the second vehicle speed change is less than a second preset change threshold, the acceleration function is determined to be an abnormal function, wherein the second preset change threshold is determined by an acceleration signal sent by the acceleration function to accelerate the vehicle.

[0083] It should be noted that, in the present embodiment, the monitoring methods for different target functions may be different. If the target function is the braking function, then the first vehicle speed change of the vehicle after the vehicle is braked by the braking function is monitored, and the first vehicle speed change is compared with the first preset change threshold. If the first vehicle speed change is less than the first preset change threshold, it can be indicated that the braking function does not have a braking effect, and accordingly, it can be determined that there is an abnormality in the braking function. It is worth noting that the first preset change threshold will be determined by the braking signal sent when the vehicle is braked by the braking function. For example, the braking signal may include the brake opening, and accordingly, the first preset change threshold is linearly related to the brake opening.

[0084] If the target function is the acceleration function, the second speed change of the vehicle is monitored after the vehicle is accelerated by the acceleration function, and then the second speed change is compared with the second preset change threshold. If the second speed change is less than the second preset change threshold, it indicates that the acceleration function has no acceleration effect, that is, it can be determined that the acceleration function is abnormal. Similarly, the second preset change threshold can be determined by the acceleration signal sent by the acceleration function to accelerate the vehicle, such as the acceleration signal can be the throttle opening, and the second preset change threshold is in a certain linear relationship with the throttle opening.

[0085] In addition, the target function can also be an air conditioning function. For example, after the air conditioning function is started, the temperature change in the car can be monitored. If the temperature does not change, it can be determined that the air conditioning function is abnormal. The target function can also be a lighting function, which can be monitored by a 360-degree panoramic imaging camera configured on the vehicle. For example, if a light signal is generated during the driving of the vehicle (which can be a signal of a headlight, a small light, a turn signal, a brake light, a fog light, etc.), the image of the light corresponding to the light signal can be captured by the 360-degree panoramic imaging camera. Accordingly, the image is used to determine whether the light is working normally. Accordingly, if it is determined through image recognition that the light is not emitting light, it can be determined that the lighting function is abnormal. The target function can also be a seat adjustment function. For example, for an automatically adjustable seat, when the pressure sensor on the seat senses that the seat has not changed after the passenger has sat down, it can be considered that the seat adjustment function is abnormal. The target function can also be a window adjustment function. When a window closing command is issued, the audio data in the car can be monitored. If the background noise in the car does not change within a preset time, it is determined that the window adjustment function is abnormal.

[0086] Reference Figure 2 , is a flow chart of a second embodiment proposed based on the first embodiment of the vehicle abnormality prompt method of the present application. The same or similar contents in this embodiment as those in the above embodiment can be referred to the above introduction and will not be repeated later. The steps of real-time monitoring of each target function involved in vehicle control during vehicle driving include steps S121 to S122:

[0087] Step S121, when the target function is an environment perception function, monitoring an image difference between a first environment image acquired by the environment perception function at a current sampling point and a second environment image acquired by the environment perception function at a previous sampling point;

[0088] Step S122: If the image difference is greater than a preset difference threshold, the environmental perception function is determined to be an abnormal function, wherein the preset difference threshold is determined by a sampling interval between the current sampling point and the previous sampling point and the real-time vehicle speed, and the larger the sampling interval, the larger the preset difference threshold, and the faster the real-time vehicle speed, the larger the preset difference threshold.

[0089] Exemplarily, if the target function is the environmental perception function, the image difference between the first environmental image acquired by the environmental perception function at the current sampling point and the second environmental image acquired by the environmental perception function at the previous sampling point is monitored. Among them, the first environmental image and the second environmental image can be taken by a camera configured on the vehicle. The difference between the first environmental image and the second environmental image can be calculated by an image similarity algorithm, or it can be obtained by tracking and identifying points with the same features in the first environmental image and the second environmental image, and then obtained by the proportion of the same feature points to the total feature points in the image. The specific restrictions can be made by the technical personnel without specific restrictions. Then compare the image difference with the preset difference threshold. If the image difference threshold is greater than the preset difference threshold, it can be determined that the environmental perception function is an abnormal function. Among them, the preset difference threshold is determined by the sampling interval between the current sampling point and the previous sampling point and the real-time vehicle speed, and the larger the sampling interval, the larger the preset difference threshold, and the faster the real-time vehicle speed, the larger the preset difference threshold.

[0090] It is understandable that, in actual applications, the image frames in the video continuously captured by the camera during the movement of the vehicle are continuous, and accordingly, the difference between adjacent image frames is usually small. Therefore, under normal circumstances, adjacent image frames or images with a short acquisition time interval should be relatively similar. Based on this, in this embodiment, the environment perception function will be judged by image difference whether there is an abnormality. It is also worth noting that the sampling interval between the current sampling point and the previous sampling point can be the frame interval of the camera to obtain the image frame, and considering the actual use of hardware computing power, the sampling interval can also be greater than the frame interval. The specific sampling interval size can be set by the technician. In addition, the faster the vehicle speed, the faster the picture captured by the camera changes, and the greater the difference between the captured images. Similarly, the longer the acquisition interval is equivalent to the longer the time for the picture to change, and the greater the difference between the captured images. Therefore, the larger the sampling interval and the faster the real-time vehicle speed, the larger the preset difference threshold.

[0091] Reference Figure 3 , is a flowchart of a third embodiment proposed based on the first embodiment and the second embodiment of the vehicle abnormality prompt method of the present application. In this embodiment, the same or similar contents as the above embodiments can be referred to the above introduction, and will not be repeated later. The step of real-time monitoring of each target function involved in vehicle control during vehicle driving also includes steps S131 to S132:

[0092] Step S131, when the target function is a power steering function, monitoring the rotation torque applied by the driver to the steering wheel of the vehicle, and the rotation speed of the steering wheel under the action of the rotation torque;

[0093] Step S132, determining a target torque range according to the rotation speed, and if the rotation torque is not within the target torque range, determining that the steering assist function is an abnormal function.

[0094] Exemplarily, if the target function is a power steering function, the vehicle can monitor the rotational torque applied by the driver to the vehicle steering wheel in real time, which can be collected by the torque sensor in the power steering system. At the same time, the rotational speed of the steering wheel under the action of the rotational torque is monitored, and the target torque range is determined by the rotational speed. For example, the average value of the torque applied by the driver to the steering wheel in the record with the same rotational speed as the above can be found in the historical torque information, and then a fluctuation error value is configured on the basis of the average value to obtain the above target torque range. Alternatively, the target torque range is obtained by directly looking up the table through the rotational speed, wherein the mapping relationship between the rotational speed and the torque range is recorded in the table, and the mapping relationship in the table can be obtained by testing. Correspondingly, if the rotational torque is not within the target torque range, it can be determined that the power steering function is an abnormal function.

[0095] In addition, refer to Figure 4 This is a schematic diagram of the overall process framework of the vehicle abnormality prompt solution for this application. Figure 4 As shown, when the vehicle brakes fail, the steering assist fails, the acceleration fails, the lights fail, and the air conditioning fails, the vehicle is judged to have a fault (that is, there is an abnormality) and a fault signal is generated. After receiving the fault signal, the vehicle's ECU gives prompts from three aspects: visual, tactile, and auditory. For example, in terms of vision, the HUD (Head-Up Display) head-up text display prompts; in terms of touch, the seat vibration prompts; in terms of hearing, voice interaction prompts. Taking the voice interaction prompt as an example, the prompt content may include, the brakes have failed, please take over the vehicle and drive carefully; the acceleration has failed, please take over the vehicle and drive carefully, etc.

[0096] The present application also provides a vehicle abnormality prompting device, referring to Figure 5 , the vehicle abnormality prompting device comprises:

[0097] The monitoring module 10 is used to monitor in real time various target functions involved in vehicle control during vehicle driving;

[0098] A determination module 20, configured to determine an abnormality type of the vehicle based on the abnormal function when an abnormal function is detected in the target functions, and select a moving part of the driver's seat on the vehicle according to the abnormality type;

[0099] The prompt module 30 is used to prompt that the vehicle has an abnormality by controlling the vibration of the moving part.

[0100] Optionally, the determining module 20 is further configured to:

[0101] When the abnormality type of the vehicle is abnormal control, selecting a hip support part of the driver's seat as the movement part;

[0102] When the abnormality type of the vehicle is non-control abnormality, a back support portion of the driver's seat is selected as the moving portion.

[0103] Optionally, the determining module 20 is further configured to:

[0104] When the abnormal function is a braking function, an acceleration function, a steering assist function, a lighting function, or an environment sensing function, determining that the abnormal type of the vehicle is a control abnormality;

[0105] In a case where the abnormal function is an air conditioning function, a seat adjustment function or a window adjustment function, it is determined that the abnormal type of the vehicle is a non-control abnormality.

[0106] Optionally, the monitoring module 10 is further used for:

[0107] In the case where the target function is an environmental perception function, monitoring an image difference between a first environmental image acquired by the environmental perception function at a current sampling point and a second environmental image acquired by the environmental perception function at a previous sampling point;

[0108] If the image difference is greater than a preset difference threshold, the environmental perception function is determined to be an abnormal function, wherein the preset difference threshold is determined by the sampling interval between the current sampling point and the previous sampling point and the real-time vehicle speed, and the larger the sampling interval, the larger the preset difference threshold, and the faster the real-time vehicle speed, the larger the preset difference threshold.

[0109] Optionally, the monitoring module 10 is further used for:

[0110] When the target function is a power steering function, monitoring a rotation torque applied by a driver to a steering wheel of the vehicle, and a rotation speed of the steering wheel under the action of the rotation torque;

[0111] A target torque range is determined according to the rotation speed, and if the rotation torque is not within the target torque range, the steering assist function is determined to be an abnormal function.

[0112] Optionally, the monitoring module 10 is further used for:

[0113] When the target function is a braking function, monitoring a first vehicle speed change of the vehicle after the vehicle is braked by the braking function;

[0114] If the first vehicle speed change is less than a first preset change threshold, determining that the braking function is an abnormal function, wherein the first preset change threshold is determined by a braking signal generated by the braking function when braking the vehicle;

[0115] When the target function is an acceleration function, monitoring a second vehicle speed change of the vehicle after the vehicle is accelerated by the acceleration function;

[0116] If the second vehicle speed change is less than a second preset change threshold, the acceleration function is determined to be an abnormal function, wherein the second preset change threshold is determined by an acceleration signal sent by the acceleration function to accelerate the vehicle.

[0117] Optionally, the prompt module 30 is further used for:

[0118] When an abnormal function is detected in the target functions, voice prompt information of the vehicle abnormality is output through the audio device of the vehicle, and / or image prompt information of the vehicle abnormality is output through the display device of the vehicle.

[0119] The vehicle abnormality prompt device provided by the present application adopts the vehicle abnormality prompt method in the above embodiment, which can solve the technical problem of continuing to use the failed assisted driving or automatic driving function when the assisted driving or automatic driving process fails. Compared with the prior art, the beneficial effects of the vehicle abnormality prompt device provided by the present application are the same as the beneficial effects of the vehicle abnormality prompt method provided by the above embodiment, and the other technical features of the vehicle abnormality prompt device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0120] The present application provides a vehicle, the vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle abnormality prompt method in the above-mentioned embodiment one.

[0121] Reference below Figure 6 , which shows a schematic diagram of the structure of a vehicle suitable for implementing the embodiment of the present application. The vehicle in the embodiment of the present application may include but is not limited to mobile terminals such as computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and fixed terminals such as computers. Figure 6The vehicle shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0122] like Figure 6 As shown, the vehicle may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for vehicle operation are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0123] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0124] The vehicle provided by the present application adopts the vehicle abnormality prompt method in the above embodiment, which can solve the technical problem of continuing to use the assisted driving or automatic driving function when the assisted driving or automatic driving process fails. Compared with the prior art, the beneficial effects of the vehicle provided by the present application are the same as the beneficial effects of the vehicle abnormality prompt method provided by the above embodiment, and the other technical features in the vehicle are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0125] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0126] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0127] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle abnormality prompt method in the above-mentioned embodiment.

[0128] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0129] The computer-readable storage medium may be included in the vehicle, or may exist independently without being installed in the vehicle.

[0130] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by a vehicle, the vehicle:

[0131] Real-time monitoring of various target functions involved in vehicle control during vehicle driving;

[0132] In the case where an abnormal function is detected in each of the target functions, determining an abnormal type of the vehicle based on the abnormal function, and selecting a moving part of a driver's seat on the vehicle according to the abnormal type;

[0133] By controlling the vibration of the moving part, it is indicated that there is an abnormality in the vehicle.

[0134] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0135] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0136] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0137] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle abnormality prompt method, and can solve the technical problem of continuing to use the failed assisted driving or automatic driving function when the assisted driving or automatic driving process fails. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vehicle abnormality prompt method provided by the above-mentioned embodiment, and will not be repeated here.

[0138] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned vehicle abnormality prompt method when executed by a processor.

[0139] The computer program product provided by the present application can solve the technical problem of vehicle abnormality prompt. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the vehicle abnormality prompt method provided by the above embodiment, which will not be repeated here.

[0140] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle abnormality prompt method, characterized in that: The vehicle abnormality prompting method comprises the following steps: Real-time monitoring of various target functions involved in vehicle control during vehicle driving; In the case where an abnormal function is detected in each of the target functions, determining an abnormal type of the vehicle based on the abnormal function, and selecting a moving part of a driver's seat on the vehicle according to the abnormal type; By controlling the vibration of the moving part, it is indicated that there is an abnormality in the vehicle.

2. The vehicle abnormality prompting method according to claim 1, characterized in that: The step of selecting the moving part of the driver's seat on the vehicle according to the abnormality type comprises: When the abnormality type of the vehicle is abnormal control, selecting a hip support part of the driver's seat as the movement part; When the abnormality type of the vehicle is non-control abnormality, a back support portion of the driver's seat is selected as the moving portion.

3. The vehicle abnormality prompting method according to claim 2, characterized in that: The step of determining the abnormality type of the vehicle based on the abnormal function comprises: When the abnormal function is a braking function, an acceleration function, a steering assist function, a lighting function, or an environment sensing function, determining that the abnormal type of the vehicle is a control abnormality; In a case where the abnormal function is an air conditioning function, a seat adjustment function or a window adjustment function, it is determined that the abnormal type of the vehicle is a non-control abnormality.

4. The vehicle abnormality prompting method according to claim 1, characterized in that: The step of real-time monitoring of various target functions involved in vehicle control during vehicle driving includes: In the case where the target function is an environmental perception function, monitoring an image difference between a first environmental image acquired by the environmental perception function at a current sampling point and a second environmental image acquired by the environmental perception function at a previous sampling point; If the image difference is greater than a preset difference threshold, the environmental perception function is determined to be an abnormal function, wherein the preset difference threshold is determined by the sampling interval between the current sampling point and the previous sampling point and the real-time vehicle speed, and the larger the sampling interval, the larger the preset difference threshold, and the faster the real-time vehicle speed, the larger the preset difference threshold.

5. The vehicle abnormality prompting method according to claim 1, characterized in that: The step of real-time monitoring of various target functions involved in vehicle control during vehicle driving also includes: When the target function is a power steering function, monitoring a rotation torque applied by a driver to a steering wheel of the vehicle, and a rotation speed of the steering wheel under the action of the rotation torque; A target torque range is determined according to the rotation speed, and if the rotation torque is not within the target torque range, the steering assist function is determined to be an abnormal function.

6. The vehicle abnormality prompting method according to claim 1, characterized in that: The step of real-time monitoring of various target functions involved in vehicle control during vehicle driving also includes: When the target function is a braking function, monitoring a first vehicle speed change of the vehicle after the vehicle is braked by the braking function; If the first vehicle speed change is less than a first preset change threshold, determining that the braking function is an abnormal function, wherein the first preset change threshold is determined by a braking signal generated by the braking function when braking the vehicle; When the target function is an acceleration function, monitoring a second vehicle speed change of the vehicle after the vehicle is accelerated by the acceleration function; If the second vehicle speed change is less than a second preset change threshold, the acceleration function is determined to be an abnormal function, wherein the second preset change threshold is determined by an acceleration signal sent by the acceleration function to accelerate the vehicle.

7. The vehicle abnormality prompting method according to claim 1, characterized in that: After the step of real-time monitoring of each target function involved in vehicle control during vehicle driving, the method further includes: When an abnormal function is detected in each of the target functions, voice prompt information of the vehicle abnormality is output through the audio device of the vehicle, and / or image prompt information of the vehicle abnormality is output through the display device of the vehicle.

8. A vehicle, characterized in that: The vehicle comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle abnormality prompt method according to any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle abnormality prompt method according to any one of claims 1 to 7 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the vehicle abnormality prompting method according to any one of claims 1 to 7 are implemented.

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