Vehicle control method and device, electronic equipment and computer readable storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, electronic equipment and a computer readable storage medium. The vehicle control method comprises the steps that road condition information of a to-be-driven road section of a vehicle and current driving information of the vehicle are obtained; the sight line direction of a current driver is monitored to obtain a sight line attention area of the driver, and the sight line attention area comprises an area which can be covered by the sight line direction of the driver in a cab of the vehicle; and according to the road condition information, the driving information and the sight line attention area, determining alarm information of the vehicle, and controlling the vehicle to execute an alarm operation corresponding to the alarm information. The problem that in the existing background, driver attention is distracted, and consequently the vehicle control capacity is reduced is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of alarm reminders, and in particular, to a vehicle control method, device, electronic device, and computer-readable storage medium. Background Art

[0002] With the economic development and the improvement of people's living standards, the number of automobiles is increasing, and the complexity of roads is also becoming more and more serious, especially the complexity of curves. Under the conditions of a curving mountain road without street lights, the road is dark and it is difficult for the driver to identify the road ahead. In this case, if the driver's attention is distracted, the driver's ability to control the vehicle will decline. When an emergency occurs, the driver cannot make a correct response in time, thus increasing the traffic risk of the vehicle running off the mountain road. Summary of the Invention

[0003] The embodiments of the present application provide a vehicle control method, device, electronic device, and computer-readable storage medium, aiming to improve the problem that the driver's distracted attention leads to a decline in the vehicle control ability in the existing background.

[0004] In a first aspect, the embodiments of the present application disclose a vehicle control method, and the method includes:

[0005] Obtain the road condition information of the section where the vehicle is to travel, and the current driving information of the vehicle;

[0006] Monitor the line-of-sight direction of the current driver to obtain the line-of-sight attention area of the driver, where the line-of-sight attention area includes the area that can be covered by the line-of-sight direction of the driver in the cab of the vehicle;

[0007] Determine the alarm information of the vehicle according to the road condition information, the driving information, and the line-of-sight attention area, and control the vehicle to perform the alarm operation corresponding to the alarm information.

[0008] In a second aspect, the embodiments of the present application disclose a vehicle control device, and the device includes:

[0009] A first acquisition module, configured to obtain the road condition information of the section where the vehicle is to travel, and the current driving information of the vehicle;

[0010] A second acquisition module, configured to monitor the line-of-sight direction of the current driver to obtain the line-of-sight attention area of the driver, where the line-of-sight attention area includes the area that can be covered by the line-of-sight direction of the driver in the cab of the vehicle;

[0011] A determination module, configured to determine the alarm information of the vehicle according to the road condition information, the driving information, and the line-of-sight attention area, and control the vehicle to perform the alarm operation corresponding to the alarm information.

[0012] In a third aspect, an embodiment of the present application discloses an electronic device, including a processor and a memory, where

[0013] The memory is used to store a computer program;

[0014] The processor is configured to execute the program stored on the memory to implement the steps of the vehicle control method described in any one of the foregoing.

[0015] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of the vehicle control method described in any one of the foregoing are implemented.

[0016] The vehicle control method, device, electronic device, and computer-readable storage medium provided by the embodiments of the present application have the following advantages:

[0017] The present application provides a vehicle control method, which obtains the road condition information of the section where the vehicle is to travel and the current driving information of the vehicle; monitors the line-of-sight direction of the current driver to obtain the line-of-sight attention area of the driver, and the line-of-sight attention area includes the area that can be covered by the line-of-sight direction of the driver inside the cab of the vehicle; determines the alarm information of the vehicle according to the road condition information, the driving information, and the line-of-sight attention area, and controls the vehicle to execute the alarm operation corresponding to the alarm information. In this way, the line-of-sight attention area of the current driver can be obtained by monitoring the line-of-sight direction of the current driver to timely understand the driving state of the current driver, and the alarm information is determined through comprehensive analysis in combination with the road condition information of the section where the vehicle is to travel and the current driving information of the vehicle, making the alarm more intelligent and accurate. By controlling the vehicle to execute the alarm operation, the problem that the driving ability of the driver decreases when the driver's attention is not concentrated can be effectively avoided, thereby preventing dangerous situations such as the vehicle rushing out of the mountain road because the driver cannot make a correct response in time, and significantly improving the driving safety of the vehicle. Description of the Drawings

[0018] Figure 1 is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of the line-of-sight area inside the cab of a vehicle provided by an embodiment of the present application;

[0020] Figure 3 is a flowchart of another vehicle control method provided by an embodiment of the present application;

[0021] Figure 4It is a structural block diagram of a vehicle control device provided by an embodiment of the present application;

[0022] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Specific embodiments

[0023] In order to make the technical problems, technical solutions and beneficial effects solved by the present application more clear and understandable, the present application will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0024] Terms such as "first" and "second" in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, the term "and / or" in the specification and claims is used to describe the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. These three situations. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. In the embodiments of the present application, the term "plurality" refers to two or more, and other quantifiers are similar.

[0025] Before introducing the vehicle control method, device, electronic device and computer-readable storage medium provided by the present application, the application scenarios involved in each embodiment of the present application will be introduced first. The present application can be applied to the scenario of vehicle driving, and the vehicle control method provided by the embodiments of the present application can be applied to the control device of the vehicle.

[0026] At present, with the development of the economy and the improvement of people's living standards, the number of cars is increasing, and the complexity of roads is becoming more and more serious, especially in mountain roads, where there are many bends and the curvature varies greatly. This means that the driver needs to frequently adjust the steering wheel and control the speed to adapt to different bend radii and slopes. Compared with flat and straight urban roads, the driving difficulty is greatly increased, and higher attention and operating skills are required from the driver. However, at night, the lighting conditions in mountainous areas are poor, and it is difficult for the driver to identify the direction of the road ahead, the curvature of the bend, and the condition of the road surface. The driver needs to distract his attention to obtain navigation information, which will make it difficult for the driver's line of sight to always focus on the safe line of sight area at the front windshield of the vehicle. The distraction of attention will reduce the driver's ability to control the vehicle and slow down the reaction speed. When encountering an emergency, he may not be able to respond correctly in time, thereby increasing the traffic risk of the vehicle running out of the mountain road.

[0027] In order to solve the above problems, the present application provides a vehicle control method, device, electronic device and computer-readable storage medium, which can obtain the current driver's line of sight focus area by monitoring the current driver's line of sight direction, so as to timely understand the current driver's driving status, and combine the road condition information of the section to be traveled by the vehicle and the current driving information of the vehicle for comprehensive analysis to determine the alarm information, so as to make the alarm more intelligent and accurate. By controlling the vehicle to execute the alarm operation, it can effectively avoid the problem of the driver's reduced ability to control the vehicle when the driver is not paying attention, thereby preventing the driver from being unable to make a correct response in time, causing the vehicle to rush out of the mountain road and other dangerous situations, thereby significantly improving the safety of vehicle driving.

[0028] The method provided in the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0029] Embodiment 1

[0030] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present application, such as Figure 1 As shown, the method is applied to a control device of a vehicle, and the method may include the following steps:

[0031] In step 101, the road condition information of the road section where the vehicle is to travel and the current driving information of the vehicle are obtained.

[0032] Among them, the to-be-traveled section is a section with a preset length starting from the current position of the vehicle, and this section is the road section that the vehicle will enter and travel through in the next journey. Exemplarily, the to-be-traveled section can be determined according to a preset distance range. For example, the to-be-traveled section can be set as the road within 500 meters in front of the vehicle. Regardless of the road environment the vehicle is in, the roadbed section starting from the current position of the vehicle and extending 500 meters forward along the driving direction can be used as the to-be-traveled section.

[0033] The road condition information can include geometric features of the road, such as the curvature of the bend, the magnitude of the slope, the width of the road, etc. The driving information can include the current movement speed, acceleration of the vehicle, and the steering wheel angle.

[0034] In this step, the image information in front of the vehicle can be collected through an external IFC (Integrated Front Camera). After the camera captures a picture containing the intersection and the road ahead, the algorithm will compare and perform pattern matching with a large number of pre-stored road scene sample data according to elements such as road lines, edge features, and surrounding environment signs in the picture, so as to identify various road condition information. And the driving speed of the vehicle can also be obtained through a wheel speed sensor, and the current steering wheel angle information of the vehicle can be obtained through a sensor set on the vehicle.

[0035] In step 102, monitor the current driver's line of sight direction to obtain the area that the driver's line of sight focuses on.

[0036] Among them, the area that the line of sight focuses on includes the area that can be covered by the driver's line of sight direction in the cab of the vehicle.

[0037] Exemplarily, as Figure 2 shown, the space in the cab can be divided into multiple areas according to different functions. For example, the space in the cab can be divided into a windshield area (area 1 / area 5), a left rearview mirror area (area 2), a right rearview mirror area (area 3), a rearview mirror area (area 4), a multimedia area (area 6), an instrument panel area (area 7), a gear area (area 8), a steering wheel area (area 9), a main driver's handle area (area 10), a co-driver area (area 11), a window area (area 12, 14), and a sunroof area (area 13).

[0038] When the driver sits in the cab, the part of the space area in the cab that can be covered by the direction of the driver's eye line of sight is called the area that the line of sight focuses on.

[0039] In this step, the line-of-sight direction of the driver can be determined through camera monitoring technology or eye-tracking sensor technology. Specifically, both camera monitoring technology and eye-tracking sensor technology are existing technologies, and their specific implementation steps will not be elaborated here.

[0040] When determining the area of the driver's line-of-sight focus, a model and a mapping relationship can be established first. According to factors such as the vehicle interior layout and seat adjustment range, a spatial model of the cab can be constructed. At the same time, combined with the installation position and viewing angle range of the camera or eye-tracking sensor, a mapping relationship between the line-of-sight direction and the actual spatial area inside the cab is established. When a certain line-of-sight direction of the driver is monitored, based on the established mapping relationship, the area covered by this line-of-sight direction inside the cab can be determined. For example, if the mapping relationship indicates that when the line-of-sight direction forms a 15-degree angle with the vehicle's central axis and tilts downward by 10 degrees, it corresponds to the storage box area under the center console inside the cab, then when such a line-of-sight direction is monitored, this storage box area is recognized as part of the area of line-of-sight focus.

[0041] By analyzing the area of line-of-sight focus, it is possible to intuitively understand whether the driver's attention is concentrated on road driving-related matters.

[0042] In step 103, based on the road condition information, the driving information, and the area of line-of-sight focus, the alarm information of the vehicle is determined, and the vehicle is controlled to perform the alarm operation corresponding to the alarm information.

[0043] Among them, the alarm information may include an alarm event and the number of executions for performing the alarm event. For example, the alarm event may include a voice alarm and a braking alarm.

[0044] In this step, when the road condition information, the driving information, and the area of line-of-sight focus are obtained, the above road condition information, driving information, and line-of-sight focus area information can be comprehensively analyzed and evaluated to determine the alarm event to be adopted and the number of executions of the alarm event under the current situation.

[0045] For example, after comprehensively analyzing and evaluating the above road condition information, driving information, and line-of-sight focus area information, it is determined that the alarm information of the vehicle is two voice alarms and one braking reminder. In this case, the vehicle's audio system can be controlled to emit a prompt sound, such as a sharp and hasty alarm sound, to attract the driver's full attention; and the vehicle's speed can be automatically reduced to make the vehicle in a safer driving state until the driver takes appropriate measures to resume normal driving.

[0046] By adopting the above technical solution, the area of the current driver's line of sight attention can be obtained by monitoring the current driver's line of sight direction, so as to timely understand the current driver's driving state, and combined with the road conditions of the section to be traveled by the vehicle and the current driving information of the vehicle for comprehensive analysis to determine the alarm information, making the alarm more intelligent and accurate. By controlling the vehicle to perform the alarm operation, the problem of the driver's reduced vehicle control ability due to inattention can be effectively avoided, and further, the dangerous situation that the vehicle rushes out of the mountain road because the driver cannot make a correct reaction in time can be prevented, significantly improving the safety of vehicle driving.

[0047] Considering areas such as the windshield, rearview mirror, and instrument panel, when the driver focuses on these areas, they can obtain key driving information, which is crucial for safe driving. Areas such as the gearshift and steering wheel, although not continuously focused on, require the driver's attention during operations such as shifting gears and turning. And areas such as multimedia, the passenger seat, and the window (during non-primary observation periods), excessive attention to these areas will distract the driver and increase safety risks. That is to say, the degree of association between different line-of-sight areas and driving safety is different, and different alarm information can be determined according to the different degrees of association with driving safety.

[0048] Therefore, in some embodiments, step 103 above can be implemented through the following steps.

[0049] In step 1031, determine the area category corresponding to the line-of-sight attention area.

[0050] Among them, the area category includes the first category, the second category, and the third category divided by the driving safety degree of multiple line-of-sight areas, and the line-of-sight area includes multiple areas divided within the cab.

[0051] Such as Figure 2 shown, the cab of the vehicle includes multiple areas. Since different areas have different functions and their safety impacts on the driver during driving are also different, the areas 1-14 shown in Figure 2 can be divided into the first category, the second category, and the third category respectively according to the driving safety degree.

[0052] Among them, the first category includes areas directly related to driving safety, such as the windshield area (Area 1). When the driver pays attention to these areas, they can timely obtain the road conditions ahead, which is crucial for safe driving. The second category includes areas closely related to driving safety, such as the windshield area (Area 5), the left rearview mirror area (Area 2), the right rearview mirror area (Area 3), the rearview mirror area (Area 4), the multimedia area (Area 6), and the instrument panel area (Area 7). When the driver pays attention to these areas, they can timely obtain key information such as the surrounding environment of the vehicle and the status of their own vehicle, which is equally important for safe driving. The third category includes areas with relatively less relation to driving safety, such as the gear area (Area 8), the steering wheel area (Area 9), the driver's handle area (Area 10), the passenger area (Area 11), the window area (Areas 12, 14), and the sunroof area (Area 13). If the driver pays too much attention to these areas, it may distract their attention, reduce their attention to the road and the vehicle, and thus increase potential safety risks. Through this classification method, the impact degree of the driver's line-of-sight attention area on driving safety can be quantitatively evaluated.

[0053] In this step, when the line-of-sight attention area of the driver is obtained, it is possible to analyze and judge the determined line-of-sight attention area according to the pre-set area category division criteria (the first category, the second category, and the third category divided according to the driving safety degree) to obtain the area category corresponding to the line-of-sight attention area.

[0054] In step 1032, according to the road condition information, the driving information, and the area category, the alarm information of the vehicle is determined.

[0055] In this step, the road condition information can be used to reflect the geometric features of the road, including the curve curvature, slope, road width, etc. The road condition information is the basic data for judging driving risks and can help the system identify potential dangerous road sections and situations. The driving information can be used to reflect information such as the current speed and steering wheel angle of the vehicle. The driving information is an important basis for the system to evaluate whether the current driving state of the vehicle is safe. And the area category determined through the above steps can reflect the current attention distribution situation of the driver.

[0056] In the process of determining the alarm information of the vehicle according to the road condition information, the driving information, and the area category, the road condition information, the driving information, and the area category can be comprehensively analyzed. Among them, the road condition information, the driving information, and the area category can all correspond to risk types. For different risk combination situations, different levels of alarm information can be corresponding.

[0057] For example, when it is known from road condition information that there is a sharp bend ahead on the section of the road to be traveled, if it is detected that the current speed of the vehicle is relatively fast, it is then necessary to focus on determining the area category corresponding to the driver's line of sight attention area. When the line of sight attention area corresponds to the first category, that is, when the driver is closely focusing on key areas such as the road ahead and the instrument panel, the system will, based on the current driving state of the vehicle and the road conditions, determine that although the driver has a certain risk awareness, the excessive speed may still lead to danger. At this time, a relatively gentle alarm message will be issued, such as "There is a sharp bend ahead, please slow down appropriately", to remind the driver to adjust the speed in time and pass the bend safely.

[0058] However, if the line of sight attention area corresponds to the second category, it means that the driver's attention is concentrated on areas related to operations such as the gear position and the steering wheel, and the driver may be performing driving operations. However, due to the complex road conditions and high speed, there is a risk of operation errors. At this time, the system will issue an alarm of medium intensity, such as "There is a sharp bend ahead and the speed is high, please pay attention to the driving state and road conditions", and repeat the broadcast, which not only reminds the driver to pay attention to the road conditions but also implies that the driver should pay attention to the accuracy of the current operation.

[0059] When the line of sight attention area corresponds to the third category, that is, when the driver's attention is concentrated on places with less relation to driving safety such as the multimedia and the co-pilot area, the situation becomes more critical. The system will immediately issue a high-intensity alarm, such as "Emergency! There is a sharp bend ahead", and repeat the broadcast. At the same time, it will control the braking system of the vehicle to perform a braking operation to attract the driver's attention to the greatest extent and actively correct the driving behavior, so as to prevent the vehicle from rushing out of the bend due to the driver's distraction in the high-speed driving state and causing a serious accident.

[0060] Optionally, the alarm message includes an alarm event and the execution quantity corresponding to the alarm event.

[0061] In some embodiments, multiple alarm messages corresponding to the road condition information, the driving information, and the area category can be determined from the first preset correspondence.

[0062] Among them, the alarm message includes a preset alarm event and the execution quantity of the preset alarm event. The first preset correspondence includes the correspondence between the road condition information, the driving information, and the area category, and the preset alarm event and the execution quantity of the preset alarm event; the alarm event includes a voice reminder alarm and a braking reminder alarm.

[0063] In this embodiment, according to the first preset correspondence, different area categories can be determined to correspond to different alarm message sets. The alarm message set can include multiple alarm messages. Among them, each alarm message in the alarm message set can be associated with the road condition information and the driving information.

[0064] In a possible implementation, when the area category is the first category, it indicates that the driver is closely paying attention to key areas such as the road ahead, judging that the driver has a certain risk awareness. In the case where the road condition information or the driving information is abnormal, the driver can respond quickly. Therefore, in this case, the alarm information in the alarm information set corresponding to the first category can be alarm information of a relatively gentle voice broadcast type or the alarm information may not be triggered.

[0065] For example, when the area category is the first category, the alarm information set corresponding to the first category may include {(0 voice alarms, 0 braking alarms), (1 voice alarm, 0 braking alarms), (2 voice alarms, 0 braking alarms)}.

[0066] In another possible implementation, when the area category is the second category, it means that the driver's attention is concentrated on areas related to operations such as the gear position and the steering wheel, and may be performing driving operations. However, due to complex road conditions and high vehicle speed, there is a risk of operation errors. Therefore, in this case, the alarm information in the alarm information set corresponding to the second category can be one or more of voice broadcast type alarm information and relatively gentle braking alarm type alarm information.

[0067] For example, when the area category is the second category, the alarm information set corresponding to the second category may include {(1 voice alarm, 0 braking alarms), (2 voice alarms, 0 braking alarms), (2 voice alarms, 1 braking alarm), (2 voice alarms, 2 braking alarms)}.

[0068] In another possible implementation, when the area category is the third category, that is, when the driver's attention is concentrated on places with less relation to driving safety such as multimedia and the co-pilot area, the situation becomes more critical. Therefore, in this case, the alarm information in the alarm information set corresponding to the third category can be in the form of urgent voice broadcast type alarm information and braking alarm type alarm information.

[0069] For example, when the area category is the third category, the alarm information set corresponding to the second category may include {(2 voice alarms, 1 braking alarm), (2 voice alarms, 2 braking alarms), (2 voice alarms, 3 braking alarms)}.

[0070] Among them, in the case of a braking alert level 1, the braking system of the vehicle can directly control the vehicle speed to decrease by a preset threshold value. In the case of a braking alert level 2, the braking system of the vehicle can directly control the vehicle speed to decrease to a preset speed (the preset speed is less than or equal to a certain small speed value). In the case of a braking alert level 3, the braking system of the vehicle can directly control the vehicle speed to decrease to 0.

[0071] By adopting the above technical solution, through the classification of the line-of-sight attention area, the attention distribution of the driver can be accurately judged. By combining different road conditions and driving information with the line-of-sight attention area category, various complex driving scenarios can be covered, and different levels of alarm information can be issued according to different risk combination situations. This precise reminder method avoids unnecessary interference, enables the driver to quickly make a response according to the actual situation, and improves the comfort and convenience of driving.

[0072] In some other embodiments, in the case of determining the area category corresponding to the line-of-sight attention area, the residence time of the driver's line of sight in the line-of-sight attention area can be obtained first, and then the alarm information corresponding to the road condition information, the driving information, the area category, and the time range in which the residence time is located can be determined from the second preset correspondence.

[0073] Similarly, in this case, the alarm information can also include an alarm event and the execution quantity corresponding to the alarm event.

[0074] Among them, the second preset correspondence includes the correspondence between the road condition information, the driving information, the area category, and the time range and the preset alarm information.

[0075] In this embodiment, the multiple alarm information corresponding to the time range in which the residence time is located can be determined from the second preset correspondence first, and the multiple alarm information can be the alarm information included in the first preset correspondence.

[0076] After the area category (i.e., the first category, the second category, or the third category) corresponding to the driver's line-of-sight attention area has been determined, the residence time of the driver's line of sight in the line-of-sight attention area can be further obtained. For example, if it is determined that the line-of-sight attention area belongs to the third category (such as a multimedia area, etc., which has a relatively small relationship with driving safety), the system will start to record the duration of the driver's line of sight in this area at this time. The purpose of this step is to more carefully understand the degree of distraction of the driver, because the longer the residence time, the more serious the driver's distraction may be.

[0077] Then, multiple alarm messages corresponding to the time range in which the residence duration is located can be determined from the second preset correspondence. These alarm messages are the alarm messages included in the first preset correspondence. That is to say, on the basis of the second preset correspondence, the first preset correspondence further screens and determines the alarm messages according to the area category.

[0078] For example, the second preset correspondence determines multiple combinations of alarm messages within the first time range according to the residence duration, and the first preset correspondence will further clarify which combinations are specifically used in different category areas according to the category area. If the residence duration is 15 seconds, according to the first preset correspondence, the alarm messages corresponding at this time are determined from the second preset correspondence as the voice reminder alarm is executed 2 times, and the braking reminder alarm is executed at level 0 (because the severity of braking reminder has not been reached yet).

[0079] By adopting the above technical solution, the residence duration of the driver's line of sight in the sight attention area can be considered, and the attention state of the driver and potential driving risks can be evaluated more accurately. Different residence durations reflect the differences in the degree of driver distraction, and determining the corresponding preset alarm messages according to such differences can make the alarm system more intelligent and personalized.

[0080] In some embodiments, the road condition information includes the curvature of the bend of the to-be-driven road section, and the driving information includes the current steering angle of the vehicle steering wheel.

[0081] Optionally, the bend steering of the to-be-driven road section can be determined first according to the curvature of the bend, and then when the bend steering and the steering angle are on the same side, the alarm message of the vehicle is determined according to the road condition information, the driving information and the sight attention area, and the alarm message includes a first level; when the bend steering and the steering angle are on different sides, the alarm message of the vehicle is determined according to the road condition information, the driving information and the sight attention area, and the alarm message includes a second level.

[0082] Wherein, the alarm intensity corresponding to the second level is greater than that of the first level.

[0083] In this embodiment, when the bend steering and the vehicle steering angle are on the same side, it indicates that the driver's steering operation is consistent with the trend of the bend. Generally, in this case, the driver's control of the vehicle is relatively natural and smooth, the vehicle driving trajectory fits well with the bend, and the risk of the vehicle getting out of control or deviating from the road is relatively low. At this time, the alarm message determined according to the road condition information, the driving information and the sight attention area is the first level, which means that the alarm intensity is relatively low because the overall driving situation is in a relatively controllable state.

[0084] If the bend steering and the vehicle steering angle are on opposite sides, this indicates that the driver's steering operation is opposite to the actual direction of the bend. This situation may make it difficult for the vehicle to travel along the curvature of the bend, increasing the likelihood of dangerous situations such as the vehicle running off the bend, skidding or colliding. The driver needs to promptly adjust the steering angle to adapt to the bend, otherwise the potential risks are relatively high. Therefore, in this case, the alarm information determined based on the relevant information is of the second level, and the alarm intensity corresponding to the second level is greater than that of the first level. The purpose is to attract the driver's high attention through a stronger alarm, prompting him to make the correct steering adjustment as soon as possible to reduce the risk of accidents.

[0085] It should be noted that after determining the level of the alarm information, the implementation manner of determining the alarm information of the vehicle according to the road condition information, the driving information, the staying duration, and the area category described in the above embodiments can also be adopted. The specific implementation manner is consistent with the manner described above and will not be elaborated here.

[0086] It is only necessary to incorporate key factors such as the area category and the staying duration on the basis of the alarm level to further refine and adjust the final alarm information.

[0087] Specifically, Table 1 can be used to illustrate different alarm information when the bend steering and the vehicle steering angle are on the same side and on opposite sides.

[0088] Table 1

[0089]

[0090]

[0091] In some embodiments, when determining the bend steering of the to-be-traveled road section, the area category corresponding to the line-of-sight attention area can also be determined. Among them, the area category includes a first category, a second category, and a third category divided according to the driving safety degree of multiple line-of-sight areas. The line-of-sight area includes multiple areas divided in the cab; the second category includes a same-side second category on the same side as the bend steering and an opposite-side second category on the opposite side of the bend steering.

[0092] Then, when the area category corresponding to the line-of-sight attention area is the same-side second category, the alarm information of the vehicle can be determined according to the road condition information and the driving information. The alarm information includes a third level; when the area category corresponding to the line-of-sight attention area is the opposite-side second category, the alarm information of the vehicle can be determined according to the road condition information and the driving information. The alarm information includes a fourth level.

[0093] Among them, the alarm intensity corresponding to the fourth level is greater than that of the third level.

[0094] In this embodiment, when the area category corresponding to the line-of-sight attention area is the second category on the same side, it indicates that the driver's line of sight is concentrated in the area on the same side as the bend steering and has a certain association with the driving operation. At this time, according to the road condition information (such as the width of the road, whether there are obstacles, road surface conditions, etc.) and the driving information (such as vehicle speed, acceleration, steering wheel angle, etc.) to determine the alarm information of the vehicle, and the alarm information includes the third level. Since the driver's line of sight is in the relevant area on the same side as the bend steering, the observation and response to the bend may be relatively good, so the alarm level is relatively low. For example, if the road condition is good and the vehicle speed is moderate, it may only issue a slight voice prompt, such as "Please continue to maintain the current driving state and pay attention to the bend."

[0095] When the area category corresponding to the line-of-sight attention area is the second category on the opposite side, it means that the driver's line of sight is concentrated in the area on the opposite side of the bend steering and has a certain association with the driving operation. In this case, the alarm information of the vehicle is also determined according to the road condition information and the driving information, and the alarm information includes the fourth level, and the alarm intensity corresponding to the fourth level is greater than that of the third level. Because the driver's line of sight is in the area on the opposite side of the bend steering, the attention to the upcoming bend may not be enough, and there is a relatively high safety risk, so a stronger alarm is needed to remind the driver. For example, a more urgent voice alarm may be issued, accompanied by dashboard light flashing or seat vibration, etc., to attract the driver's high attention, such as "Attention! Your line-of-sight direction is not conducive to observing the bend. Please adjust immediately and pay attention to the bend ahead."

[0096] By adopting the above technical solution, by further subdividing the area category of the line-of-sight attention area and determining different levels of alarm information according to different subdivision situations in combination with the road condition and driving information, the driver's attention and potential risks when facing a bend can be evaluated more accurately. And more accurately remind the driver to take correct operations, avoid accidents caused by improper attention distribution, and improve the safety and reliability of driving. At the same time, this detailed classification and alarm setting also reflect the adaptability and optimization ability of the vehicle intelligent auxiliary driving system to complex driving scenarios.

[0097] In some embodiments, the current driving speed of the vehicle can also be obtained, and then when the driving speed is greater than or equal to a preset speed threshold, according to the road condition information, the driving information, and the line-of-sight attention area, the alarm information of the vehicle is determined, and the alarm information includes the fifth level; when the driving speed is less than the preset speed threshold, according to the road condition information, the driving information, and the line-of-sight attention area, the alarm information of the vehicle is determined, and the alarm information includes the sixth level.

[0098] Among them, the alarm intensity corresponding to the fifth level is greater than that of the sixth level.

[0099] In this embodiment, when the driving speed is greater than or equal to the preset speed threshold, it indicates that the vehicle is in a relatively high-speed driving state. In this case, the alarm information of the vehicle is determined according to the road condition information (such as whether there are sharp turns, traffic jams, construction, etc. on the road), driving information (such as steering wheel angle, acceleration, etc.) and the driver's line of sight attention area (the area that the driver's line of sight focuses on in the cab). This alarm information includes the fifth level. Since when the vehicle is driving at a high speed, once there are changes in road conditions or the driver's attention is not concentrated, the potential dangers and consequences will be more serious. Therefore, the corresponding alarm level is higher and the alarm intensity is also greater at this time. For example, a rapid voice alarm may be issued, and at the same time, the dashboard lights of the vehicle will flash, and even the seat will vibrate to attract the driver's high attention and remind him to pay attention to the road conditions and his own driving state.

[0100] When the driving speed is less than the preset speed threshold, it means that the driving speed of the vehicle is relatively low. Similarly, the alarm information of the vehicle is determined according to the road condition information, driving information and the driver's line of sight attention area. This alarm information includes the sixth level, and the alarm intensity corresponding to the fifth level is greater than that of the sixth level. Because when driving at a low speed, the vehicle is relatively easier to control and the risk of serious accidents is relatively small. Therefore, the alarm level and intensity are also relatively low. For example, it may just issue a relatively gentle voice prompt to remind the driver to pay attention to the road conditions, or a certain indicator light on the dashboard lights up but does not flash.

[0101] By adopting the above technical solution, by distinguishing the alarm level according to the high or low driving speed, the safety risks of the vehicle at different speeds can be more accurately evaluated, and corresponding intensity alarms can be sent to the driver in a timely manner. This can avoid issuing overly strong alarms when the vehicle is driving at a low speed, interfering with the driver's normal driving; at the same time, when the vehicle is driving at a high speed, the driver can be made to pay sufficient attention to potential dangers through high-intensity alarms, prompting him to take correct measures to ensure driving safety.

[0102] It should be noted that after determining the level of the alarm information according to the driving speed, the implementation manner of determining the alarm information of the vehicle according to the road condition information, the driving information, the staying duration, and the area category described in the above embodiment can also be adopted. The specific implementation manner is consistent with the manner described above and will not be elaborated here.

[0103] Only key factors such as the area category and the staying duration are incorporated on the basis of the alarm level to further refine and adjust the final alarm information.

[0104] In some embodiments, the curvature of the bend of the to-be-driven road section can also be obtained.

[0105] Then, when the curvature of the bend is greater than or equal to the preset curvature threshold, the alarm information of the vehicle is determined according to the road condition information, the driving information, and the line-of-sight attention area, and the alarm information includes a seventh level; when the curvature of the bend is less than the preset curvature threshold, the alarm information of the vehicle is determined according to the road condition information, the driving information, and the line-of-sight attention area, and the alarm information includes an eighth level.

[0106] Among them, the alarm intensity corresponding to the seventh level is greater than that of the eighth level.

[0107] In this embodiment, when the curvature of the bend is greater than or equal to the preset curvature threshold, it indicates that the bend of the road ahead is relatively sharp. At this time, the alarm information of the vehicle is determined by comprehensively considering the road condition information (such as whether the road surface is wet or slippery, whether there are obstacles, the traffic flow size, etc.), the driving information (such as the current speed, acceleration, and steering wheel angle of the vehicle), and the driver's line-of-sight attention area (the area where the driver's line of sight focuses in the cab). The alarm information includes a seventh level. Since the sharp bend section has higher requirements for the driver's driving operation, the vehicle is more likely to have dangerous situations such as loss of control and rollover when driving on such a section. Therefore, the corresponding alarm level is higher and the alarm intensity is also greater. For example, a continuous and rapid voice alarm may be issued to inform the driver that "there is a sharp bend ahead, please slow down and drive carefully". At the same time, the relevant warning lights on the vehicle's instrument panel flash quickly, and even the vehicle's electronic stability system may be prepared in advance to cope with possible unstable situations.

[0108] When the curvature of the bend is less than the preset curvature threshold, it means that the bend of the road ahead is relatively gentle. Similarly, the alarm information of the vehicle is determined according to the road condition information, the driving information, and the driver's line-of-sight attention area. The alarm information includes an eighth level, and the alarm intensity corresponding to the seventh level is greater than that of the eighth level. In this case, the risk of vehicle driving is relatively small, so the alarm level and intensity are also relatively low. For example, a relatively gentle voice prompt may be issued, such as "there is a bend ahead, please pay appropriate attention", or the warning light on the instrument panel only lights up briefly.

[0109] By adopting the above technical solution, by distinguishing the alarm level according to the size of the bend curvature, the safety risk of the vehicle when driving on roads with different bending degrees can be more accurately evaluated. In this way, an appropriate intensity of alarm can be timely issued to the driver according to the actual situation, avoiding disturbing the driver with overly strong alarms when the bend is relatively gentle, and effectively attracting the driver's high attention in the sharp bend section, prompting him to take correct driving measures, such as decelerating in advance and steering carefully, so as to reduce the probability of accidents and ensure driving safety.

[0110] It should be noted that after determining the level of the alarm information according to the curvature of the bend, the implementation manner of determining the alarm information of the vehicle according to the road condition information, the driving information, the staying duration, and the area category described in the above embodiments can also be adopted. The specific implementation manner is consistent with the manner described above and will not be elaborated here.

[0111] Only key factors such as the area category and the staying duration are incorporated on the basis of the alarm level to further refine and adjust the final alarm information.

[0112] Embodiment 2

[0113] Figure 3 is a flowchart of another vehicle control method provided by an embodiment of the present application. As Figure 3 shown, this method is applied to a control device of a vehicle, and this method may include the following steps:

[0114] In step 201, obtain the curvature of the bend of the to-be-driven road section.

[0115] In step 202, when the curvature of the bend is greater than or equal to a preset curvature threshold, obtain the current driving speed of the vehicle.

[0116] In step 203, when the driving speed is greater than or equal to a preset speed threshold, determine the bend steering of the to-be-driven road section according to the curvature of the bend.

[0117] In step 204, when the bend steering and the steering angle are on the same side, determine the area category corresponding to the line-of-sight attention area, and obtain the staying duration of the driver's line of sight in the line-of-sight attention area to determine the alarm information of the vehicle.

[0118] When the area category is the first category, control the vehicle to stop triggering the alarm operation.

[0119] When the area category is the second category, if the staying duration is less than or equal to the threshold, control the vehicle to give a voice alarm once. If the staying duration is greater than the threshold, control the vehicle to give a voice alarm twice.

[0120] When the area category is the third category, if the staying duration is less than or equal to the threshold, control the vehicle to give a voice alarm twice. If the staying duration is greater than the threshold, control the vehicle to give a voice alarm twice and control the braking system of the vehicle to perform a first-level braking.

[0121] In step 205, when the bend steering and the steering angle are on different sides, determine the area category corresponding to the line-of-sight attention area, and obtain the staying duration of the driver's line of sight in the line-of-sight attention area to determine the alarm information of the vehicle.

[0122] When the area category is the first category, control the vehicle to stop triggering the alarm operation.

[0123] When the area category is the second category, if the staying duration is less than or equal to the threshold value, control the vehicle to give a voice alarm twice. If the staying duration is greater than the threshold value, control the vehicle to give a voice alarm twice and control the braking system of the vehicle to perform a first-level braking.

[0124] When the area category is the third category, if the staying duration is less than or equal to the threshold value, control the vehicle to give a voice alarm twice and control the braking system of the vehicle to perform a first-level braking. If the staying duration is greater than the threshold value, control the vehicle to give a voice alarm twice and control the braking system of the vehicle to perform a second-level braking until the vehicle stops.

[0125] In step 206, when the driving speed is less than the preset speed threshold value, determine the turning direction of the to-be-driven road section according to the curvature of the curve.

[0126] In step 207, when the turning direction of the curve and the steering angle are on the same side, determine the area category corresponding to the line-of-sight attention area, and obtain the staying duration of the driver's line of sight in the line-of-sight attention area to determine the alarm information of the vehicle.

[0127] When the area category is the first category, control the vehicle to stop triggering the alarm operation.

[0128] When the area category is the second category, if the staying duration is less than or equal to the threshold value, control the vehicle to give a voice alarm once. If the staying duration is greater than the threshold value, control the vehicle to give a voice alarm twice.

[0129] When the area category is the third category, if the staying duration is less than or equal to the threshold value, control the vehicle to give a voice alarm twice. If the staying duration is greater than the threshold value, control the vehicle to give a voice alarm twice and control the braking system of the vehicle to perform a first-level braking.

[0130] In step 208, when the turning direction of the curve and the steering angle are on the opposite side, determine the area category corresponding to the line-of-sight attention area, and obtain the staying duration of the driver's line of sight in the line-of-sight attention area to determine the alarm information of the vehicle.

[0131] When the area category is the first category, control the vehicle to stop triggering the alarm operation.

[0132] When the area category is the second category, if the staying duration is less than or equal to the threshold, control the vehicle to give two voice alarms. If the staying duration is greater than the threshold, control the vehicle to give two voice alarms and control the braking system of the vehicle to perform primary braking.

[0133] When the area category is the third category, if the staying duration is less than or equal to the threshold, control the vehicle to give two voice alarms and control the braking system of the vehicle to perform primary braking. If the staying duration is greater than the threshold, control the vehicle to give two voice alarms and control the braking system of the vehicle to perform secondary braking until the vehicle stops.

[0134] In step 209, when the curvature of the curve is less than the preset curvature threshold, obtain the current driving speed of the vehicle.

[0135] In step 210, when the driving speed is greater than or equal to the preset speed threshold, determine the curve steering of the to-be-driven road section according to the curvature of the curve.

[0136] In step 211, when the curve steering and the steering angle are on the same side, determine the area category corresponding to the line-of-sight attention area, and obtain the staying duration of the driver's line of sight in the line-of-sight attention area to determine the alarm information of the vehicle.

[0137] When the area category is the first category, control the vehicle to stop triggering the alarm operation.

[0138] When the area category is the second category, if the staying duration is less than or equal to the threshold, control the vehicle to give one voice alarm. If the staying duration is greater than the threshold, control the vehicle to give two voice alarms.

[0139] When the area category is the third category, if the staying duration is less than or equal to the threshold, control the vehicle to give two voice alarms. If the staying duration is greater than the threshold, control the vehicle to give two voice alarms and control the braking system of the vehicle to perform primary braking.

[0140] In step 212, when the curve steering and the steering angle are on the opposite side, determine the area category corresponding to the line-of-sight attention area, and obtain the staying duration of the driver's line of sight in the line-of-sight attention area to determine the alarm information of the vehicle.

[0141] When the area category is the first category, control the vehicle to stop triggering the alarm operation.

[0142] When the area category is the second category, if the staying duration is less than or equal to the threshold, control the vehicle to give two voice alarms. If the staying duration is greater than the threshold, control the vehicle to give two voice alarms and control the braking system of the vehicle to perform primary braking.

[0143] When the area category is the third category, if the stay duration is less than or equal to the threshold, control the vehicle to give two voice alarms and control the braking system of the vehicle to perform primary braking. If the stay duration is less than or equal to the threshold, control the vehicle to give two voice alarms and control the braking system of the vehicle to perform secondary braking until the vehicle stops.

[0144] In step 213, when the driving speed is less than the preset speed threshold, determine the turning direction of the upcoming road section according to the curvature of the curve.

[0145] In step 214, when the turning direction of the curve and the steering angle are on the same side, determine the corresponding area category of the line-of-sight attention area, and obtain the stay duration of the driver's line of sight in the line-of-sight attention area to determine the alarm information of the vehicle.

[0146] When the area category is the first category, control the vehicle to stop triggering the alarm operation.

[0147] When the area category is the second category, if the stay duration is less than or equal to the threshold, control the vehicle to stop triggering the alarm operation. If the stay duration is greater than the threshold, control the vehicle to give one voice alarm.

[0148] When the area category is the third category, if the stay duration is less than or equal to the threshold, control the vehicle to give one voice alarm. If the stay duration is greater than the threshold, control the vehicle to give two voice alarms.

[0149] In step 215, when the turning direction of the curve and the steering angle are on the opposite side, determine the corresponding area category of the line-of-sight attention area, and obtain the stay duration of the driver's line of sight in the line-of-sight attention area to determine the alarm information of the vehicle.

[0150] When the area category is the first category, control the vehicle to stop triggering the alarm operation.

[0151] When the area category is the second category, if the stay duration is less than or equal to the threshold, control the vehicle to give one voice alarm. If the stay duration is greater than the threshold, control the vehicle to give two voice alarms.

[0152] When the area category is the third category, if the stay duration is less than or equal to the threshold, control the vehicle to give two voice alarms. If the stay duration is less than or equal to the threshold, control the vehicle to give two voice alarms and control the braking system of the vehicle to perform primary braking.

[0153] By adopting the above technical solution, the area of the current driver's line of sight attention can be obtained by monitoring the current driver's line of sight direction, so as to timely understand the current driver's driving state, and through comprehensive analysis of the road condition information of the section where the vehicle is to travel and the current driving information of the vehicle, the alarm information can be determined, making the alarm more intelligent and accurate. By controlling the vehicle to perform the alarm operation, the problem that the driver's vehicle control ability decreases when the driver's attention is not concentrated can be effectively avoided, and further, the dangerous situation that the vehicle rushes out of the mountain road due to the driver's inability to make a correct response in time can be prevented, significantly improving the safety of vehicle driving.

[0154] It should be noted that, for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present application are not limited by the described action sequence, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present application.

[0155] Figure 4 is a structural block diagram of a vehicle control device provided by an embodiment of the present application. Referring to Figure 4 , the device includes:

[0156] A first acquisition module 301, configured to acquire the road condition information of the section where the vehicle is to travel and the current driving information of the vehicle;

[0157] A second acquisition module 302, configured to monitor the current driver's line of sight direction to obtain the area of the driver's line of sight attention, and the area of the driver's line of sight attention includes the area that can be covered by the driver's line of sight direction in the cab of the vehicle;

[0158] A determination module 303, configured to determine the alarm information of the vehicle according to the road condition information, the driving information, and the area of the line of sight attention, and control the vehicle to perform the alarm operation corresponding to the alarm information.

[0159] Optionally, the determination module is configured to determine the area category corresponding to the area of the line of sight attention, and the area category includes a first category, a second category, and a third category divided according to the driving safety degree of multiple line of sight areas, and the line of sight areas include multiple areas divided in the cab; and determine the alarm information of the vehicle according to the road condition information, the driving information, and the area category.

[0160] Optionally, the alarm information includes an alarm event and the execution quantity corresponding to the alarm event; the determination module is configured to determine, from a first preset correspondence, the alarm information corresponding to the road condition information, the driving information, and the area category, where the alarm information includes a preset alarm event and the execution quantity of the preset alarm event, and the first preset correspondence includes the correspondence between the road condition information, the driving information, and the area category and the preset alarm event and the execution quantity of the preset alarm event; the alarm event includes a voice reminder alarm and a braking reminder alarm.

[0161] Optionally, the alarm information includes an alarm event and the execution quantity corresponding to the alarm event; the determination module is configured to obtain the residence duration of the driver's line of sight in the area of sight concern.

[0162] Determine, from a second preset correspondence, the alarm information corresponding to the road condition information, the driving information, the area category, and the time range in which the residence duration is located, where the second preset correspondence includes the correspondence between the road condition information, the driving information, the area category, and the time range and the preset alarm information.

[0163] Optionally, the road condition information includes the curvature of the curve of the to-be-driven section, and the driving information includes the current steering angle of the vehicle's steering wheel; the determination module is configured to determine the curve steering of the to-be-driven section according to the curvature of the curve; in the case where the curve steering and the steering angle are on the same side, determine the alarm information of the vehicle according to the road condition information, the driving information, and the area of sight concern, where the alarm information includes a first level; in the case where the curve steering and the steering angle are on different sides, determine the alarm information of the vehicle according to the road condition information, the driving information, and the area of sight concern, where the alarm information includes a second level, where the alarm intensity corresponding to the second level is greater than the first level.

[0164] Optionally, the determination module is configured to determine the area category corresponding to the area of sight concern, where the area category includes a first category, a second category, and a third category divided according to the driving safety degree of multiple sight areas, and the sight areas include multiple areas divided in the cab; the second category includes a same-side second category on the same side as the curve steering and an opposite-side second category on the opposite side of the curve steering; in the case where the area category corresponding to the area of sight concern is the same-side second category, determine the alarm information of the vehicle according to the road condition information and the driving information, where the alarm information includes a third level; in the case where the area category corresponding to the area of sight concern is the opposite-side second category, determine the alarm information of the vehicle according to the road condition information and the driving information, where the alarm information includes a fourth level, and the alarm intensity corresponding to the fourth level is greater than the third level.

[0165] Optionally, the device further includes:

[0166] A third acquisition module, configured to acquire the current driving speed of the vehicle;

[0167] The determination module is configured to determine the alarm information of the vehicle according to the road condition information, the driving information, and the line-of-sight attention area when the driving speed is greater than or equal to a preset speed threshold, where the alarm information includes a fifth level; when the driving speed is less than the preset speed threshold, determine the alarm information of the vehicle according to the road condition information, the driving information, and the line-of-sight attention area, where the alarm information includes a sixth level, and the alarm intensity corresponding to the fifth level is greater than that of the sixth level.

[0168] Optionally, the device further includes:

[0169] A fourth acquisition module, configured to acquire the curve curvature of the to-be-driven road section;

[0170] The determination module is configured to determine the alarm information of the vehicle according to the road condition information, the driving information, and the line-of-sight attention area when the curve curvature is greater than or equal to a preset curvature threshold, where the alarm information includes a seventh level; when the curve curvature is less than the preset curvature threshold, determine the alarm information of the vehicle according to the road condition information, the driving information, and the line-of-sight attention area, where the alarm information includes an eighth level, and the alarm intensity corresponding to the seventh level is greater than that of the eighth level.

[0171] In summary, the present application provides a vehicle control device, which can obtain the line-of-sight attention area of the current driver by monitoring the current line-of-sight direction of the driver, so as to timely understand the driving state of the current driver, and comprehensively analyze and determine the alarm information by combining the road condition information of the to-be-driven road section of the vehicle and the current driving information of the vehicle, making the alarm more intelligent and accurate. By controlling the vehicle to perform the alarm operation, the problem that the driving ability of the driver decreases when the driver's attention is not concentrated can be effectively avoided, and further, the dangerous situation that the vehicle rushes out of the mountain road due to the driver's inability to make a correct reaction in time can be prevented, significantly improving the safety of vehicle driving.

[0172] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the related parts, please refer to the partial description of the method embodiment.

[0173] The embodiment of the present application further provides an electronic device 90, please refer to Figure 5 , including a processor 910 and a memory 920, where the memory 910 is used to store a computer program; the processor 920 is used to execute the program stored on the memory 910 to implement the vehicle control method introduced in any embodiment of the present application.

[0174] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the vehicle control method introduced in any embodiment of the present application is implemented.

[0175] In the present application, "a plurality" means two or more.

[0176] In the present application, unless otherwise clearly defined, the terms "install", "connect", and "couple" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0177] The terms "first", "second", "third", "fourth", etc. (if any) in the present application are used to distinguish similar objects and do not have to be used to describe a specific order or sequence.

[0178] The term "and / or" in the present application is only a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the present application generally represents an "or" relationship between the associated objects before and after.

[0179] If there is no special description, all steps of the present application can be carried out in sequence or randomly. For example, the method includes steps A and B, indicating that the method can include steps A and B carried out in sequence, or steps B and A carried out in sequence. For example, it is mentioned that the method may further include step C, indicating that step C can be added to the method in any order. For example, the method can include steps A, B, and C, or steps A, C, and B, or steps C, A, and B, etc.

[0180] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtaining road condition information of a road section to be traveled by the vehicle, and current driving information of the vehicle; Monitoring the line-of-sight direction of the current driver to obtain the area of the driver's line-of-sight attention, where the area of the driver's line-of-sight attention includes the area that can be covered by the driver's line-of-sight direction inside the cab of the vehicle; Determining alarm information of the vehicle according to the road condition information, the driving information, and the area of the driver's line-of-sight attention, and controlling the vehicle to perform an alarm operation corresponding to the alarm information.

2. The method according to claim 1, wherein The determining the alarm information of the vehicle according to the road condition information, the driving information, and the area of the driver's line-of-sight attention includes: Determining a region category corresponding to the area of the driver's line-of-sight attention, where the region category includes a first category, a second category, and a third category obtained by dividing multiple line-of-sight regions according to driving safety levels, and the line-of-sight regions include multiple regions divided inside the cab; Determining the alarm information of the vehicle according to the road condition information, the driving information, and the region category.

3. The method according to claim 2, wherein The alarm information includes an alarm event and the number of executions corresponding to the alarm event; the determining the alarm information of the vehicle according to the road condition information, the driving information, and the region category includes: Determining the alarm information corresponding to the road condition information, the driving information, and the region category from a first preset correspondence relationship, where the alarm information includes a preset alarm event and the number of executions of the preset alarm event, and the first preset correspondence relationship includes the correspondence relationship between the road condition information, the driving information, and the region category and the preset alarm event and the number of executions of the preset alarm event; the alarm event includes a voice reminder alarm and a braking reminder alarm.

4. The method according to claim 1, wherein The alarm information includes an alarm event and the number of executions corresponding to the alarm event; the determining the alarm information of the vehicle according to the road condition information, the driving information, and the region category includes: Obtaining the residence time of the driver's line of sight in the area of the driver's line-of-sight attention; Determining the alarm information corresponding to the road condition information, the driving information, the region category, and the time range in which the residence time is located from a second preset correspondence relationship, where the second preset correspondence relationship includes the correspondence relationship between the road condition information, the driving information, the region category, and the time range and the preset alarm information.

5. The method according to claim 1, characterized in that, The road condition information includes the curvature of a bend in the road section to be traveled, and the driving information includes the current steering angle of the vehicle's steering wheel; The determining the alarm information of the vehicle according to the road condition information, the driving information, and the area of the driver's line-of-sight attention includes: Determining the bend steering of the road section to be traveled according to the curvature of the bend; In the case where the bend steering and the steering angle are on the same side, determining the alarm information of the vehicle according to the road condition information, the driving information, and the area of the driver's line-of-sight attention, where the alarm information includes a first level; When the curve turn is on the opposite side of the steering angle, determine the alarm information of the vehicle according to the road condition information, the driving information and the line-of-sight attention area, where the alarm information includes a second level, and the alarm intensity corresponding to the second level is greater than that of the first level.

6. The method according to claim 5, characterized in that The determining the alarm information of the vehicle according to the road condition information, the driving information and the line-of-sight attention area includes: Determine the area category corresponding to the line-of-sight attention area, where the area category includes a first category, a second category and a third category obtained by dividing multiple line-of-sight areas according to the driving safety level, and the line-of-sight areas include multiple areas divided in the cab; the second category includes a second same-side category on the same side as the curve turn and a second opposite-side category on the opposite side of the curve turn; When the area category corresponding to the line-of-sight attention area is the second same-side category, determine the alarm information of the vehicle according to the road condition information and the driving information, where the alarm information includes a third level; When the area category corresponding to the line-of-sight attention area is the second opposite-side category, determine the alarm information of the vehicle according to the road condition information and the driving information, where the alarm information includes a fourth level, and the alarm intensity corresponding to the fourth level is greater than that of the third level.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Obtain the current driving speed of the vehicle; The determining the alarm information of the vehicle according to the road condition information, the driving information and the line-of-sight attention area includes: When the driving speed is greater than or equal to a preset speed threshold, determine the alarm information of the vehicle according to the road condition information, the driving information and the line-of-sight attention area, where the alarm information includes a fifth level; When the driving speed is less than the preset speed threshold, determine the alarm information of the vehicle according to the road condition information, the driving information and the line-of-sight attention area, where the alarm information includes a sixth level, and the alarm intensity corresponding to the fifth level is greater than that of the sixth level.

8. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Obtain the curve curvature of the to-be-driven section of the vehicle; The determining the alarm information of the vehicle according to the road condition information, the driving information and the line-of-sight attention area includes: When the curve curvature is greater than or equal to a preset curvature threshold, determine the alarm information of the vehicle according to the road condition information, the driving information and the line-of-sight attention area, where the alarm information includes a seventh level; When the curve curvature is less than the preset curvature threshold, determine the alarm information of the vehicle according to the road condition information, the driving information and the line-of-sight attention area, where the alarm information includes an eighth level, and the alarm intensity corresponding to the seventh level is greater than that of the eighth level.

9. A vehicle control device, characterized in that, The device includes: A first acquisition module, configured to acquire the road condition information of the to-be-driven section of the vehicle and the current driving information of the vehicle; A second acquisition module, configured to monitor the line-of-sight direction of the current driver to obtain the line-of-sight attention area of the driver, where the line-of-sight attention area includes the area that can be covered by the line-of-sight direction of the driver in the cab of the vehicle; A determination module, configured to determine the alarm information of the vehicle according to the road condition information, the driving information, and the line-of-sight attention area, and control the vehicle to perform the alarm operation corresponding to the alarm information.

10. An electronic device, characterized in that, It includes a processor and a memory, where The memory is used to store a computer program; The processor is configured to execute the program stored on the memory to implement the method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1-8 is implemented.

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