A vehicle control method and device, vehicle and storage medium

Abstract

The present application relates to the technical field of vehicle, and discloses a vehicle driving control method, which comprises the following steps: detecting whether there is foreign matter in the pedal area of the vehicle; when it is confirmed that there is foreign matter in the pedal area, issuing an alarm prompt to the current driver of the vehicle, and judging whether the driver takes adjustment measures within a specified time window; if it is confirmed that the driver does not take adjustment measures, the vehicle is controlled. In the case that foreign matter is detected in the pedal area, the driver is informed in the first time, and whether the vehicle needs to be actively controlled is further judged based on the reaction of the driver. By combining the timeliness of the foreign matter falling notification and the fault tolerance processing of the driver's reaction, the risk brought by the foreign matter falling in the pedal area to the vehicle driving is greatly reduced, and the safety guarantee of the vehicle driving is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle control method and device, a vehicle and a storage medium. BACKGROUND

[0002] In actual driving, the operation area of the vehicle corresponding to the driver's feet (i.e. the pedal area, including the accelerator pedal and the brake pedal) may sometimes be interfered by foreign matter, which may cause misoperation or safety hazards. For example, when a water bottle or power bank falls into the pedal area by accident, the accelerator pedal or brake pedal may be stuck, thereby causing a serious traffic accident.

[0003] The inventors have found in the process of implementing the present application that, for the situation of foreign matter falling into the pedal area, the vehicle of the prior art has no detection prompt or disposal measure, so that the driver cannot know the dangerous situation in the first time, and there is no vehicle control plan for the situation of foreign matter falling, thereby bringing unpredictable risks to vehicle driving.

[0004] Therefore, how to reasonably dispose of the situation of foreign matter falling to reduce the risk in the process of vehicle driving has become a technical problem to be solved by those skilled in the art. SUMMARY

[0005] In view of the above problems, the present disclosure provides a vehicle driving control method, device, vehicle and storage medium which overcome the above problems or at least partially solve the above problems, and the technical solutions are as follows:

[0006] In order to achieve the above purpose, in a first aspect, the present application provides a vehicle driving control method, comprising:

[0007] detecting whether foreign matter exists in the pedal area of the vehicle;

[0008] when it is confirmed that foreign matter exists in the pedal area, issuing an alarm prompt to the current driver of the vehicle, and determining whether the driver takes adjustment measures within a specified time window;

[0009] if it is confirmed that the driver does not take the adjustment measures, controlling the vehicle.

[0010] In order to timely find abnormal situations that may affect driving safety, such as foreign matter stuck on the pedal, and take corresponding measures to ensure driving safety. Preferably, whether foreign matter exists in the pedal area of the vehicle is detected, specifically:

[0011] acquiring and recording first state information of the pedal area when the vehicle starts;

[0012] collecting second state information of the pedal area according to a preset period;

[0013] by comparing the first state information with the second state information to confirm whether the foreign matter exists in the pedal area.

[0014] In order to improve the accuracy and reliability of detection, so as to discover potential safety hazards in time. Preferably, the first state information and the second state information at least include image data and weight data of the pedal area, by comparing the first state information with the second state information to confirm whether the foreign matter exists in the pedal area, specifically:

[0015] determining whether the image data of the first state information is consistent with the image data of the second state information;

[0016] if not, further determining whether the weight data of the second state information is greater than the weight data of the first state information;

[0017] if the weight data of the second state information is greater than the weight data of the first state information, confirming that the foreign matter exists in the pedal area.

[0018] In order to ensure that the system can intervene quickly when the driver fails to respond to the alarm in time, and to minimize the risk of accidents caused by foreign matter interference. Preferably, it is determined whether the driver takes adjustment measures within a specified time window, specifically:

[0019] collecting third state information of the pedal area at the end of the specified time window;

[0020] if it is confirmed according to the third state information and the second state information that the foreign matter still exists in the pedal area or the driver does not take deceleration operation within the specified time window, it is determined that the driver does not take the adjustment measures.

[0021] In order to accurately determine whether the driver is in a state of being able to respond to the alarm in time, so as to optimize the reaction time of the system and avoid unnecessary intervention under the premise of ensuring driving safety. Preferably, after issuing an alarm prompt to the current driver of the vehicle, it further includes:

[0022] collecting a facial image of the driver and determining an attention level of the driver according to the facial image, the attention level including attention concentration and attention dispersion;

[0023] if the attention level of the driver is attention concentration, the length of the specified time window is maintained or extended;

[0024] if the attention level of the driver is attention dispersion, the length of the specified time window is shortened.

[0025] To accelerate the system's response speed under high-risk driving conditions and take more rapid measures to reduce potential safety hazards caused by foreign objects interfering with the pedal area, the system preferably also includes:

[0026] The vehicle's driving information and road condition information are obtained. The driving information includes vehicle speed and acceleration. The road condition information includes the road conditions ahead of the vehicle and the driving information of surrounding vehicles.

[0027] If the vehicle speed exceeds a preset speed threshold or the acceleration exceeds a preset acceleration threshold, the duration of the preset time window is shortened.

[0028] If it is confirmed that there are other vehicles ahead of the vehicle based on the road conditions ahead, or if it is confirmed that the vehicle is currently in a congested section based on the driving information of surrounding vehicles, the duration of the preset time window is shortened.

[0029] To gradually reduce the vehicle speed and eventually bring it to a safe stop through a series of automated control measures in the event that the driver fails to promptly remove a foreign object from the pedal area, thereby avoiding potential safety hazards, the vehicle is preferably controlled as follows:

[0030] Reduce the power output of the vehicle's drive unit until the vehicle's power output drops to a power threshold.

[0031] The vehicle is braked by its braking system;

[0032] When the vehicle's speed drops to a preset speed threshold, the vehicle is guided to the far right of the current lane and parked, and the vehicle's hazard lights are activated.

[0033] In a second aspect, the present invention provides a vehicle control device, comprising:

[0034] The detection module is used to detect whether there are foreign objects in the pedal area of ​​the vehicle;

[0035] The judgment module is used to issue an alarm to the current driver of the vehicle when it is confirmed that there is a foreign object in the pedal area, and to determine whether the driver has taken adjustment measures within a specified time window.

[0036] The control module is used to control the vehicle if it is confirmed that the driver has not taken the adjustment measures.

[0037] Thirdly, the present invention provides a vehicle comprising:

[0038] Memory, used to store executable program code;

[0039] a processor configured to call and run the executable program code from the memory, so that the vehicle performs the method of any one of the above.

[0040] In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which, when executed, implements the method of any one of the above.

[0041] Embodiments of the present application disclose a vehicle driving control method and device, a vehicle and a storage medium. The method detects whether there is a foreign object in the pedal area of the vehicle; when it is confirmed that there is a foreign object in the pedal area, an alarm prompt is sent to the current driver of the vehicle, and it is determined whether the driver takes adjustment measures within a specified time window; if it is confirmed that the driver does not take adjustment measures, the vehicle is controlled. The present scheme informs the driver in the first time when detecting that there is a foreign object in the pedal area, and further determines whether the vehicle needs to be actively controlled based on the reaction of the driver. By combining the timeliness of the foreign object falling notification and the fault tolerance processing of the driver's reaction, the risk of the foreign object falling in the pedal area to the vehicle driving is greatly reduced, and the safety guarantee of the vehicle driving is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the application. Moreover, the same reference numerals in different figures represent the same or similar components. In the drawings:

[0043] Figure 1 A flow chart of a vehicle driving control method provided by an embodiment of the present application;

[0044] Figure 2 A structural schematic diagram of a vehicle control device provided by an embodiment of the present application;

[0045] Figure 3 A structural schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0046] Exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0047] As Figure 1 shown in some embodiments of the present application, the present embodiment provides a vehicle driving control method, specifically, the method comprises the following steps:

[0048] Step S101, detect whether there is foreign matter in the pedal area of the vehicle.

[0049] As described above, by certain technical means to detect whether there is foreign matter in the pedal area of the vehicle. The "pedal area" here generally includes the accelerator pedal, brake pedal and the space around it, and "foreign matter" refers to objects that may interfere with normal driving operations, such as water bottles, power banks, and foot mat displacement. The detection method can be based on the comprehensive analysis of various sensor data, such as visual information collected by image sensors, weight changes detected by pressure sensors, or object presence status perceived by distance sensors, etc. The purpose of this step is to identify the presence of foreign matter before potential safety hazards occur.

[0050] For example, assume a car is equipped with a camera and a pressure sensor to monitor the status of the pedal area. When the driver starts the vehicle, the system records the initial state of the pedal area (such as the image and weight distribution of the pedal area). During vehicle driving, the system continuously collects real-time state information of the pedal area according to a preset period. For example, if a water bottle accidentally falls into the pedal area, the camera may capture changes in the pedal area image (the water bottle blocks part of the pedal area), and at the same time the pressure sensor will detect an increase in the weight of the area. By comparing the current state with the initial state, the system can determine that there is foreign matter in the pedal area and trigger subsequent warning or processing procedures.

[0051] It should be noted that in specific implementation scenarios, on the basis of the above scheme, a multi-sensor fusion detection scheme can also be adopted, that is, in addition to using image and pressure sensors, other types of technical means such as ultrasonic sensors and infrared sensors can also be introduced to improve the accuracy of foreign matter detection when detecting the pedal area. For example, an ultrasonic sensor can assist in determining whether a foreign object has invaded by measuring the distance change of the pedal area.

[0052] In specific implementation scenarios, on the basis of the above scheme, a dynamic adjustment scheme of data acquisition frequency can also be adopted, that is, in order to improve monitoring efficiency and reduce resource consumption when collecting data in the pedal area, the data acquisition frequency of the foreign matter detection sensor can be dynamically adjusted according to the vehicle operating state. For example: when the vehicle is in a stationary state, reduce the data acquisition frequency to save energy; when the vehicle is driving at high speed or encountering complex road conditions, increase the data acquisition frequency to ensure timely detection of foreign matter.

[0053] In a specific implementation scenario, on the basis of the above scheme, an environment adaptability optimization scheme can be adopted, that is, when data collection is performed on the pedal area to realize foreign matter detection, considering the differences in different driving environments, the system can be optimized for special scenarios. For example, in the night or low light conditions, the night vision capability of the image sensor is enhanced to ensure that objects in the pedal area can be clearly identified even in insufficient light; in the bumpy road or off-road environment, combined with the data of the acceleration sensor, the false judgment signals caused by vehicle vibration are filtered out to improve the detection accuracy.

[0054] In a specific implementation scenario, on the basis of the above scheme, a user interactive confirmation scheme can be adopted, that is, after initially detecting that the pedal area of the vehicle has foreign matter, the system can prompt the driver to confirm through voice or touch interface. If the driver feedbacks that the pedal area is normal, the system can temporarily ignore the detection result and record this event as a reference for future optimization of the detection algorithm. The above optional schemes all belong to the protection scope of the present application.

[0055] Step S102, when confirming that the pedal area has foreign matter, issuing an alarm prompt to the current driver of the vehicle, and judging whether the driver takes adjustment measures within a specified time window.

[0056] As described above, this operation step mainly includes two parts: one is to inform the driver through the alarm prompt when the system confirms that the pedal area has foreign matter; the other is to observe and judge whether the driver takes adjustment measures within a specified time window. The "alarm prompt" here can be a visual, auditory and / or tactile reminder, such as the flashing of warning lights on the instrument panel, voice broadcast reminders or steering wheel vibration, etc. The "specified time window" refers to a reasonable period of time reserved by the system for the driver to handle the foreign matter or adjust the driving state. If the driver does not take effective measures within this time, the system will consider that the driver has failed to respond in time and trigger the subsequent automatic control process.

[0057] For example, assuming that a car detects a dropped water bottle in the pedal area, the system immediately issues an alarm prompt to the driver. For example, the text prompt "foreign matter detected in the pedal area, please check and remove immediately" is displayed on the vehicle central screen, accompanied by a rapid beeping sound to remind the driver to pay attention. At this time, the system enters a preset time window (such as 10 seconds) and continuously monitors the driver's operation behavior during this period. If the driver quickly parks the car and removes the water bottle from the pedal area, the system determines that the driver has taken adjustment measures and does not intervene further. However, if the driver does not respond, the system will automatically determine that the driver has not taken adjustment measures and prepare to perform subsequent vehicle control operations.

[0058] It should be noted that in a specific implementation scenario, on the basis of the above scheme, a multi-modal warning prompt scheme can also be adopted, that is, when confirming that the pedal area has foreign matter, the system can select different warning methods according to the habits of the driver and / or the current driving environment. For example, in high-speed driving or noisy environment, haptic feedback (such as seat vibration or steering wheel vibration) is preferred to ensure that the driver can perceive the warning information; when driving at night, in order to avoid strong light interference, soft light prompt or voice reminder can be selected instead of dazzling warning lights.

[0059] In a specific implementation scenario, on the basis of the above scheme, a driver behavior monitoring and evaluation scheme can also be adopted, that is, within the time window of judging whether the driver takes adjustment measures, the system can not only judge whether the driver takes adjustment measures through the state change of the pedal area, but also comprehensively evaluate the driver's behavior in combination with other sensor data (such as steering wheel rotation angle and / or operation of accelerator and brake pedals). For example, if the driver steps on the brake or reduces the vehicle speed, it can be considered as taking adjustment measures; the system can also record the historical behavior pattern of the driver to optimize the judgment standard of “adjustment measures”. For example, for drivers who often react quickly, the system can set a higher judgment threshold.

[0060] In a specific implementation scenario, on the basis of the above scheme, a hierarchical processing scheme of the warning mechanism can also be adopted, that is, when confirming that the pedal area has foreign matter and issuing a warning prompt to the current driver, the system can adopt a hierarchical warning strategy according to the potential harm degree of the foreign matter. For example, for slight foreign matter interference (such as when the foreign matter is small in size), the system can only issue a low-priority prompt sound; while for foreign matter that may seriously affect driving safety (such as a heavy object stuck in the brake pedal), multiple high-priority warnings (sound, light and / or vibration, etc.) can be triggered.

[0061] In a specific implementation scenario, on the basis of the above scheme, a human-computer interactive confirmation scheme can also be adopted, that is, after the warning prompt, the system can provide a simple interactive interface for the driver to confirm whether help is needed. For example, the driver can interact with the system through voice instructions (such as “ignore warning” or “request assistance”) to avoid misjudgment or unnecessary intervention. If the driver explicitly indicates that no intervention is needed, the system can temporarily exit the warning process, but continue to monitor the state of the pedal area to prevent the abnormal situation from worsening. The above optional schemes all belong to the protection scope of the present application.

[0062] Step S103, if it is confirmed that the driver does not take the adjustment measures, the vehicle is controlled.

[0063] As mentioned above, when the system confirms that the driver does not take adjustment measures within the specified time window, the vehicle is controlled to ensure driving safety. Here, "controlling the vehicle" can include various operations, such as reducing the power output of the driving device, decelerating or stopping by the braking system, and / or guiding the vehicle to the side of the road, etc. The purpose of this step is to take over part or all of the operation of the vehicle by automated means in the case that the driver fails to respond in time to the foreign object interference, avoid misoperation or safety hazards caused by foreign objects, and thus protect the safety of passengers in the vehicle and other personnel on the road.

[0064] For example, assume that a car detects a dropped water bottle in the pedal area and sends an alert to the driver. However, within the specified time window (e.g., 10 seconds), the driver does not take any measures to remove the water bottle or adjust the driving state. At this time, the system automatically intervenes to control the vehicle. For example, the system first reduces the power output of the engine to gradually decelerate the vehicle, while starting the braking system to further reduce the speed. When the vehicle speed drops to a preset safety threshold (e.g., 10 km / h), the system guides the vehicle to the rightmost side of the current lane and triggers the hazard warning lights to alert surrounding vehicles. This series of operations effectively avoids traffic accidents that may be caused by foreign object interference.

[0065] It should be noted that in specific implementation scenarios, a phased control strategy can also be adopted based on the above scheme, that is, within the specified time window, if the driver does not take corresponding adjustment measures, the system can control the vehicle in a phased manner to gradually reduce the risk. For example, the first stage reduces the power output to reduce the speed; the second stage starts light braking; and the third stage stops completely if necessary. This phased control can give the driver and surrounding vehicles more reaction time and avoid sudden vehicle stop causing secondary accidents.

[0066] In specific implementation scenarios, a differentiated control scheme based on road conditions can also be adopted based on the above scheme, that is, when controlling the vehicle, the system can select different control methods according to real-time road condition information. For example, on a highway, if there are other vehicles in front or in a congested section, the system can choose to slow down and try to keep driving in the original lane, rather than immediately stopping on the side of the road, to avoid rear-end accidents; on urban roads or rural roads, the system can directly guide the vehicle to the side of the road, as these environments are usually more convenient for parking operations.

[0067] In a specific implementation scenario, on the basis of the above scheme, a recovery mechanism scheme after takeover can also be adopted, that is, in order to improve the user experience, the takeover mechanism can also design a recovery process to allow the driver to re-take control of the vehicle after confirming that the foreign matter has been properly handled. For example, during the takeover period, the system continuously monitors the state of the pedal area; when it is detected that the foreign matter has been removed and the vehicle state returns to normal, the system informs the driver that he can re-take control of the vehicle through voice or visual prompts; if the driver does not respond in time, the system will continue to maintain the takeover state until complete safety is ensured.

[0068] In a specific implementation scenario, on the basis of the above scheme, a cooperative takeover scheme combined with external communication can also be adopted, that is, in order to further improve the effectiveness of the takeover mechanism, the system can work cooperatively with external facilities (such as traffic lights, other vehicles, or cloud servers). For example, when the takeover mechanism is started, the system can send warning information to surrounding vehicles through vehicle networking technology to remind other drivers to avoid; when approaching a red light or a congested road section, the system can optimize the takeover strategy in combination with real-time traffic information to select the best parking position or driving route. The above optional schemes all belong to the protection scope of the present application.

[0069] In some embodiments of the present application, in order to timely discover abnormal situations that may affect driving safety, such as foreign matter stuck on the pedal, and take corresponding measures to ensure driving safety. The pedal area of the vehicle is detected for the presence of foreign matter, specifically:

[0070] Obtaining and recording first state information of the pedal area at the start of the vehicle;

[0071] Collecting second state information of the pedal area according to a preset period;

[0072] Confirming whether the pedal area has foreign matter by comparing the first state information with the second state information.

[0073] As mentioned above, first, at the moment of starting the vehicle, the system will obtain and record the first state information of the pedal area. This step is to establish a reference benchmark, which typically includes but is not limited to image data, weight distribution, etc. of the pedal area. These information reflect the normal state of the pedal area at the start of the vehicle, i.e. the state without foreign matter interference.

[0074] Next, according to a preset time period, the system will continuously or periodically collect the current state information (second state information) of the pedal area. This period can be adjusted according to actual conditions to ensure that both abnormal situations can be discovered in time and resources are not excessively consumed. The second state information also contains key parameters such as image data and weight distribution of the pedal area.

[0075] Finally, the system compares the first state information with the latest second state information. By comparing whether the image data in the two states is consistent and whether the weight distribution has changed significantly, it can be determined whether there is a foreign object in the pedal area. For example, if the detected image shows that a new object appears in the pedal area, or the weight data indicates that the weight of the pedal area has increased, it can be considered that there is a foreign object. Once it is confirmed that there is a foreign object, the system will trigger the corresponding alarm mechanism or other subsequent processing procedures to remind the driver to pay attention or directly intervene in the control of the vehicle to avoid potential safety risks.

[0076] In some embodiments of the present application, in order to improve the accuracy and reliability of detection and timely discover potential safety hazards. The first state information and the second state information at least include image data and weight data of the pedal area, by comparing the first state information with the second state information to confirm whether there is a foreign object in the pedal area, specifically:

[0077] determine whether the image data of the first state information is consistent with the image data of the second state information;

[0078] If not, further determine whether the weight data of the second state information is greater than the weight data of the first state information;

[0079] If the weight data of the second state information is greater than the weight data of the first state information, it is confirmed that there is a foreign object in the pedal area.

[0080] As mentioned above, first, when the vehicle starts, the system will obtain and record the first state information of the pedal area, which includes image data and weight data. Image data provides visual information of the pedal area, which can be used to identify whether a new object appears in the area; the weight data reflects the overall weight distribution of the pedal area, which can be used to detect whether an additional object has increased the weight of the area. Then, during the vehicle driving process, the system collects the second state information of the pedal area according to the preset period, which also contains image data and weight data. These data are used for comparison and analysis with the first state information.

[0081] Next, the system first compares whether the image data in the first state information is consistent with the image data in the second state information. If there is a difference in the image data, for example, a new object appears to block part of the pedal, it indicates that there may be a foreign object interference. At this time, the system will further check whether the weight data in the two sets of state information is consistent. If the weight data of the second state information is greater than that of the first state information, it means that in addition to the visual difference, there is indeed a physical foreign object in the pedal area, thereby confirming that there is a foreign object in the pedal area.

[0082] In summary, by combining image data and weight data for dual verification, it can be more accurately determined whether there is a foreign object in the pedal area. This multi-level detection method not only improves the accuracy of the detection result, but also effectively reduces the possibility of false positives, ensuring driving safety. Once it is confirmed that there is a foreign object, the system will trigger the corresponding warning mechanism or other subsequent processing procedures to remind the driver to pay attention or directly intervene in controlling the vehicle.

[0083] In some embodiments of the present application, in order to ensure that the system can intervene quickly when the driver fails to respond to the warning in time, the risk of accidents caused by foreign objects is minimized. It is determined whether the driver takes adjustment measures within a specified time window, specifically:

[0084] Collecting third state information of the pedal area at the end of the specified time window;

[0085] If it is confirmed according to the third state information and the second state information that the foreign object still exists in the pedal area or the driver does not take deceleration operation within the specified time window, it is determined that the driver does not take the adjustment measures.

[0086] As mentioned above, first, within a specified time window, the system waits for the driver to react to the warning prompt and take appropriate measures. The length of this time window is pre-set, aiming to give the driver enough time to deal with the problem found, while avoiding too long delay causing greater safety hazards.

[0087] When reaching the end of the specified time window, the system will collect the current state information of the pedal area again (i.e. the third state information). This step is to obtain the latest pedal area condition in order to determine whether the foreign object has been removed or if there are other changes.

[0088] Then, the system compares and analyzes the third state information with the second state information collected in the previous period. Specifically: if the third state information shows that the foreign object still exists in the pedal area, it means that the driver has failed to remove the foreign object successfully; on the other hand, if within the time window, the system monitors that the vehicle does not perform any deceleration or other appropriate adjustment operations (such as changing lanes and / or parking, etc.), it indicates that the driver may have ignored the warning or failed to effectively deal with the problem.

[0089] Based on either of the above two situations, the system will determine that the driver does not take effective adjustment measures. This means that the driver has failed to solve the potential safety risk caused by the foreign object, so the system needs to start the subsequent automated control process, such as reducing power output, automatic braking and / or guiding the vehicle to the roadside for safe parking, etc., to ensure driving safety.

[0090] In some embodiments of the present application, in order to accurately determine whether the driver is in a state capable of responding to the warning in time, thereby optimizing the reaction time of the system and avoiding unnecessary intervention under the premise of ensuring driving safety, after issuing a warning prompt to the current driver of the vehicle, the method further comprises:

[0091] collecting a facial image of the driver and determining an attention level of the driver according to the facial image, the attention level including attention concentration and attention distraction;

[0092] if the attention level of the driver is attention concentration, maintaining or extending the length of the preset time window;

[0093] if the attention level of the driver is attention distraction, shortening the length of the preset time window.

[0094] As mentioned above, after issuing a warning prompt to the current driver of the vehicle about the presence of foreign matter in the pedal area, the system further captures real-time image data of the driver's face using a camera or other device in order to conduct subsequent attention level analysis. Next, the system determines the attention level of the driver based on the collected facial image. The "attention level" referred to here is mainly divided into two states: attention concentration and attention distraction. Generally, by analyzing factors such as the degree of opening and closing of the driver's eyes, the direction of gaze, the frequency of blinking, and the head posture, the current attention status of the driver can be accurately determined.

[0095] If the system determines that the attention level of the driver is "attention concentration", it means that the driver is likely to have noticed the warning information and is taking or preparing to take appropriate measures. In this case, the system can choose to maintain or appropriately extend the originally set time window length, giving the driver more time to handle the problem and reducing unnecessary automated intervention.

[0096] Conversely, if the system detects that the attention level of the driver is "attention distraction", it indicates that the driver may not have noticed the warning information or is in a distracted state (such as using a mobile phone, talking with passengers, etc.). At this time, in order to eliminate safety hazards as soon as possible, the system will shorten the preset time window length and speed up the automatic control process of the next step, such as increasing the reminder frequency, executing deceleration and / or parking operations in advance, etc.

[0097] This method of dynamically adjusting the warning response strategy according to the driver's attention level not only improves the intelligence of the system, but also, while ensuring driving safety, minimizes interference with normal driving behavior, enhancing user experience. In addition, this method also helps to reduce the risk of accidents caused by the driver's failure to respond in time, enhancing overall safety.

[0098] In some embodiments of the present application, in order to speed up the system's response speed in high-risk driving conditions, such as high-speed driving or traffic congestion, to take measures more quickly to reduce the potential safety hazards caused by foreign objects interfering with the pedal area. Also includes:

[0099] Obtain the driving information and road condition information of the vehicle, the driving information including vehicle speed and acceleration; the road condition information including the road condition in front of the vehicle and the driving information of surrounding vehicles;

[0100] If the vehicle speed exceeds the preset speed threshold or the acceleration exceeds the preset acceleration threshold, shorten the length of the preset time window;

[0101] If it is confirmed according to the road condition in front of the vehicle that there are other vehicles in front of the vehicle or according to the driving information of surrounding vehicles that the vehicle is currently in a congested section, shorten the length of the preset time window.

[0102] As mentioned above, first, the system will obtain the current driving information and road condition information of the vehicle. The driving information includes but is not limited to vehicle speed and acceleration, which reflects the current motion state of the vehicle; the road condition information covers the specific conditions of the road in front and the driving conditions of other surrounding vehicles, which helps to comprehensively assess the risk level of the current driving environment.

[0103] The system will monitor the speed and acceleration of the vehicle in real time, and if it is detected that the vehicle speed exceeds the preset speed threshold or the acceleration exceeds the preset acceleration threshold, it means that the vehicle is in a state of rapid movement or sharp acceleration, and any delay may cause serious consequences. Therefore, in this case, the system will automatically shorten the length of the preset time window to prompt a faster response to potential dangers.

[0104] At the same time, the system will also analyze the road condition in front of the vehicle and the driving information of surrounding vehicles. If there are other vehicles in front of the vehicle, especially vehicles in close proximity, or according to the driving information of surrounding vehicles, it is confirmed that the vehicle is currently in a congested section, which indicates that the vehicle's surrounding environment is complex and requires higher vigilance. In this case, the length of the time window also needs to be shortened so that the system can intervene earlier to avoid accidents caused by the driver's failure to respond in time.

[0105] By combining the above two aspects of information, the system can more intelligently determine when the response speed should be accelerated and adjust the length of the time window for alarm response accordingly. This method not only improves the efficiency of dealing with unexpected situations, but also provides more accurate safety measures under different driving conditions, thereby effectively reducing the risks caused by foreign objects in the pedal area.

[0106] In some embodiments of the present application, in order to gradually reduce the vehicle speed and ultimately safely park the vehicle through a series of automated control measures to avoid potential safety hazards in the case of the driver failing to timely handle the foreign matter in the pedal area, the vehicle is controlled as follows:

[0107] reducing the power output of the driving device of the vehicle until the power output of the vehicle falls to a power threshold;

[0108] braking the vehicle through the braking system of the vehicle;

[0109] when the speed of the vehicle falls to a preset speed threshold, guiding the vehicle to park at the far right of the current lane and triggering the flashing of the double flash lights of the vehicle.

[0110] As mentioned above, first, when the system confirms that the driver has not taken effective measures to handle the foreign matter in the pedal area, the control program for the vehicle is started. The first step is to reduce the power output of the driving device of the vehicle, which means that the power provided by the engine or electric motor will gradually decrease until the power output of the vehicle falls to a set power threshold. This can effectively reduce the speed of the vehicle and reduce the risk caused by the driver's failure to operate the accelerator correctly.

[0111] Next, the system further slows down through the braking system of the vehicle, including gently pressing the brake or using stronger braking measures, depending on the current speed of the vehicle and the safety conditions of the surrounding environment. The intervention of the braking system is to ensure that the vehicle can slow down quickly and smoothly to prevent out-of-control or collision accidents.

[0112] Once the speed of the vehicle falls to a preset speed threshold (e.g., 10 km / h), the system will perform the next operation: guiding the vehicle to move to the far right of the current lane and park. The reason for choosing to park at the far right is that, generally speaking, the far right of the road is considered a relatively safe position, which can minimize the impact on other vehicles and provide a relatively safe environment for passengers to get off the vehicle.

[0113] Finally, after the vehicle completely stops, the system will automatically trigger the flashing of the double flash lights of the vehicle. This operation is to remind other drivers around that this vehicle has been parked in an emergency and may have abnormal conditions, thereby improving the overall road safety and avoiding subsequent rear-end collisions or other traffic accidents.

[0114] In summary, through the above series of control measures for the vehicle, the driving safety can be maximized and the risk of accidents can be reduced in the case of the driver failing to respond to the warning prompt in time. This multi-level automatic control strategy not only considers the safety of the vehicle itself, but also takes into account the safety of the surrounding traffic environment.

[0115] Compared with the prior art, the vehicle driving control method disclosed by the embodiment of the application can remind the driver to pay attention before potential safety hazards occur, helps to prevent misoperation caused by the pedal area being stuck by foreign matter, and thus reduces the risk of traffic accidents. The method not only can identify the foreign matter existing in the pedal area, but also can judge whether the driver has taken corresponding adjustment measures within a specified time window. This mechanism ensures that even after the foreign matter is found, if the driver fails to handle it in time, the system can automatically intervene to control the vehicle, further enhancing the driving safety and response speed. If it is confirmed that the driver has not taken necessary adjustment measures, the method can control the vehicle, including but not limited to reducing the power output of the vehicle, implementing braking, and the like. This way can provide an additional safety protection layer when the driver cannot handle abnormal situations due to various reasons (such as distraction, sudden health problems, etc.), effectively protecting the safety of passengers in the vehicle and other pedestrians on the road. In summary, the technical solution provides an effective solution to the foreign matter interference problem that may occur in the pedal area through a complete detection, early warning, and emergency handling process, and significantly improves the safety and reliability of the vehicle during driving.

[0116] Based on the same inventive concept as the above method, the embodiment of the application further provides a vehicle control device 200. As shown in an exemplary structure schematic diagram of a vehicle control device 200, the vehicle control device 200 comprises: Figure 2 a detection module 210 configured to detect whether a foreign matter exists in a pedal area of a vehicle;

[0117] a judgment module 220 configured to, when it is confirmed that a foreign matter exists in the pedal area, issue an alarm prompt to a current driver of the vehicle, and judge whether the driver takes adjustment measures within a specified time window;

[0118] a control module 230 configured to, if it is confirmed that the driver does not take the adjustment measures, control the vehicle.

[0119] In a possible implementation manner, the detection module 210 is specifically configured to: acquire and record first state information of the pedal area when the vehicle starts; collect second state information of the pedal area according to a preset period; and confirm whether a foreign matter exists in the pedal area by comparing the first state information with the second state information.

[0120]

[0121] ​In a possible implementation, the first state information and the second state information at least include image data and weight data of the pedal area, and the foreign matter in the pedal area is determined by comparing the first state information with the second state information; the detection module 210 is further configured to: determine whether the image data of the first state information is consistent with the image data of the second state information; if not, further determine whether the weight data of the first state information is consistent with the weight data of the second state information; and if the weight data of the first state information is not consistent with the weight data of the second state information, it is determined that the foreign matter exists in the pedal area.

[0122] In a possible implementation, the determination module 220 is specifically configured to: collect third state information of the pedal area at the end of the specified time window; and if it is determined according to the third state information and the second state information that the foreign matter still exists in the pedal area or the driver does not take the deceleration operation within the specified time window, it is determined that the driver does not take the adjustment measure.

[0123] In a possible implementation, after the warning prompt is sent to the current driver of the vehicle, the determination module 220 is further configured to: collect a face image of the driver and determine an attention level of the driver according to the face image, the attention level including attention concentration and attention dispersion; if the attention level of the driver is attention concentration, the length of the preset time window is kept or extended; and if the attention level of the driver is attention dispersion, the length of the preset time window is shortened.

[0124] In a possible implementation, the determination module 220 is further configured to: acquire driving information and road condition information of the vehicle, the driving information including a vehicle speed and an acceleration, and the road condition information including a road condition in front of the vehicle and surrounding vehicle driving information; if the vehicle speed exceeds a preset speed threshold or the acceleration exceeds a preset acceleration threshold, the length of the preset time window is shortened; and if it is determined according to the road condition in front of the vehicle that there is another vehicle in front of the vehicle or according to the surrounding vehicle driving information that the vehicle is currently in a congested road section, the length of the preset time window is shortened.

[0125] In a possible implementation, the control module 230 is specifically configured to: reduce the power output of the driving device of the vehicle until the power output of the vehicle is reduced to a power threshold; brake the vehicle by using a braking system of the vehicle; and when the speed of the vehicle is reduced to a preset speed threshold, guide the vehicle to the rightmost side of the current lane to stop and trigger the double flashing of the vehicle.

[0126] It should be noted that the vehicle control device 200 described above is implemented in the form of a functional module. The term "module" herein can be implemented in the form of software and / or hardware, and no specific limitation is made thereto.

[0127] For example, the "module" can be a software program, a hardware circuit, or a combination of both, which implements the above functions. The hardware circuit can include an application specific integrated circuit (ASIC), an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, and a combination logic circuit, and / or other suitable components that support the described functions.

[0128] Therefore, the modules of each example described in the embodiments of the present application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0129] Based on the same inventive concept as the above method, the embodiments of the present application also propose a vehicle 300, for example, as shown in the figure, the vehicle 300 includes: a memory 310 and a processor 320, wherein the memory 310 stores executable program code 311, and the processor 320 is configured to invoke and execute the executable program code 311 to execute the above vehicle control method. Figure 3

[0130] The embodiments can divide the functional modules of the vehicle according to the above method examples, for example, each functional module can be divided, or two or more functions can be integrated into one processing module, and the integrated module can be implemented in the form of hardware. It should be noted that the division of the modules in the embodiments is illustrative, and is only a logical functional division. In actual implementation, another division method can be used.

[0131] In the case of dividing each functional module according to each function, the vehicle can include an analysis module, a judgment module, and an execution module. It should be noted that all related contents of each step involved in the above method embodiments can be cited in the functional description of the corresponding functional module, which will not be repeated here.

[0132] The vehicle provided by the embodiments can be used to execute the above vehicle control method, and therefore can achieve the same effect as the above implementation method.

[0133] In the case of using an integrated unit, the vehicle can include a processing module and a storage module. The processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute program codes and data, etc.

[0134] ​The processing module can be a processor or a controller, which can implement or execute the various exemplary logical blocks, modules, and circuits shown in connection with the disclosure. The processor can also be a combination of implementing computing functions, such as including one or more microprocessors, a combination of a digital signal processor (DSP) and a microprocessor, etc. The storage module can be a memory.

[0135] Based on the same inventive concept as the above method, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps of the method of any of the preceding embodiments. The computer readable storage medium can include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD (Digital Video Disc), a CD-ROM (Compact Disc Read-Only Memory), a microdrive, and a magneto-optical disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a DRAM (Dynamic Random Access Memory), a VRAM (Video Random Access Memory), a flash memory device, a magnetic or optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0136] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0137] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flowsheet block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0138] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flowsheet block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0139] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flowsheet block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0140] Finally, it should be noted that the above-mentioned embodiments are merely intended for describing the technical solutions of the present application, but not for limiting it. Although the present application is described in detail with reference to the above embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and any modification or replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A vehicle control method characterized by, The method comprises the following steps: detecting whether there is a foreign object in the pedal area of a vehicle; when confirming that there is a foreign object in the pedal area, issuing a warning prompt to the current driver of the vehicle, and determining whether the driver takes adjustment measures within a specified time window; collecting a facial image of the driver and determining the attention level of the driver according to the facial image, the attention level including attention concentration and attention dispersion; if the attention level of the driver is attention concentration, the length of the specified time window is kept or extended; if the attention level of the driver is attention dispersion, the length of the specified time window is shortened; if it is confirmed that the driver does not take the adjustment measures, the vehicle is controlled.

2. The method of claim 1, wherein, The method for detecting whether there is a foreign object in the pedal area of a vehicle comprises the following steps: acquiring and recording first state information of the pedal area when the vehicle starts; collecting second state information of the pedal area according to a preset period; confirming whether there is a foreign object in the pedal area by comparing the first state information with the second state information.

3. The method of claim 2, wherein, The first state information and the second state information at least include image data and weight data of the pedal area, and the confirmation of whether there is a foreign object in the pedal area by comparing the first state information with the second state information comprises the following steps: determining whether the image data of the first state information is consistent with the image data of the second state information; if not, further determining whether the weight data of the second state information is greater than the weight data of the first state information; if the weight data of the second state information is greater than the weight data of the first state information, it is confirmed that there is a foreign object in the pedal area.

4. The method of claim 2, wherein, The method for determining whether the driver takes adjustment measures within a specified time window comprises the following steps: collecting third state information of the pedal area at the end of the specified time window; if it is confirmed according to the third state information and the second state information that the foreign object still exists in the pedal area or the driver does not take deceleration operation within the specified time window, it is determined that the driver does not take the adjustment measures.

5. The method of claim 1, wherein, The method further comprises the following steps: acquiring driving information and road condition information of the vehicle, the driving information including vehicle speed and acceleration, and the road condition information including road condition in front of the vehicle and driving information of surrounding vehicles; if the vehicle speed exceeds a preset speed threshold or the acceleration exceeds a preset acceleration threshold, the length of the specified time window is shortened; if it is confirmed according to the road condition in front of the vehicle that there is another vehicle in front of the vehicle or according to the driving information of surrounding vehicles that the vehicle is currently in a congested road section, the length of the specified time window is shortened.

6. The method according to any one of claims 1 to 5, wherein, The method for controlling the vehicle comprises the following steps: reducing the power output of the driving device of the vehicle until the power output of the vehicle is reduced to a power threshold; braking the vehicle through the braking system of the vehicle; when the speed of the vehicle is reduced to a preset speed threshold, guiding the vehicle to the rightmost side of the current lane to stop and triggering the flashing of the double flasher of the vehicle.

7. A vehicle control device characterized by comprising: The method comprises the following steps: detecting whether a foreign object exists in a pedal area of a vehicle; judging whether an adjustment measure is taken by a current driver of the vehicle within a specified time window when confirming that the foreign object exists in the pedal area; collecting a face image of the driver and determining an attention level of the driver according to the face image, the attention level including attention concentration and attention dispersion; if the attention level of the driver is attention concentration, keeping or prolonging a time length of the specified time window; if the attention level of the driver is attention dispersion, shortening the time length of the specified time window; controlling the vehicle when confirming that the adjustment measure is not taken by the driver.

8. A vehicle characterized by comprising: The vehicle comprises: a memory for storing executable program codes; a processor for calling and running the executable program codes from the memory, so that the vehicle executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, when the computer program is executed, the method according to any one of claims 1 to 6 is realized. The computer readable storage medium stores a computer program, when the computer program is executed, the method according to any one of claims 1 to 6 is realized.

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