Vehicle driving mode control method, device, equipment and vehicle

Abstract

The application provides a vehicle driving mode control method, device, equipment and vehicle. The method comprises the following steps: monitoring the state of a driver in the vehicle to generate a driver state signal; determining a corresponding driving mode according to the driver state signal; and switching the current driving mode to the determined driving mode. The application can realize the integration of an in-vehicle monitoring system and a chassis system, so that the chassis system automatically changes the driving mode according to the state of the driver, and the vehicle makes a pre-response in terms of drivability, comfort, controllability and safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle driving mode control method, device, equipment and vehicle. BACKGROUND

[0002] The chassis refers to the combination of the drive train, the running gear, the steering system and the brake system on the vehicle, supports and installs the engine and its components and assemblies of the vehicle, forms the overall shape of the vehicle, receives the power of the engine and makes the vehicle move, and ensures normal driving.

[0003] At present, most of the vehicle chassis control is passive response control when the vehicle is in a driving state. The chassis control is still in the distributed development stage of the subsystem, and the chassis system passively accepts the instructions of the driver, so that active safety control of the chassis cannot be realized, resulting in poor driving perception. SUMMARY

[0004] The present application provides a vehicle driving mode control method, device, equipment and vehicle to solve the problem that the current vehicle chassis control cannot realize active safety control of the chassis.

[0005] In a first aspect, the present application provides a vehicle driving mode control method, comprising:

[0006] Monitoring the state of the driver in the vehicle to generate a driver state signal;

[0007] Determining the corresponding driving mode according to the driver state signal;

[0008] Switching the current driving mode to the determined driving mode.

[0009] In a possible implementation manner, the driver state signal includes: initial driving of the vehicle flag information and driver identity information;

[0010] The driver state signal determines the corresponding driving mode, comprising:

[0011] If the driver state signal includes the initial driving of the vehicle flag information, record the operation information of the current driver, and generate the corresponding driving mode according to the operation information; save the driver identity information and the corresponding driving mode.

[0012] In a possible implementation manner, the driver state signal includes: driver state information;

[0013] The driver state signal determines the corresponding driving mode, comprising:

[0014] According to the driver state information received in real time, a driving mode corresponding to the driver state information is determined.

[0015] In a possible implementation, the driver state signal includes: sign information of driving the vehicle again and driver identity information.

[0016] The determination of the corresponding driving mode according to the driver state signal includes:

[0017] If the sign information of driving the vehicle again is included in the driver state signal, the driving mode corresponding to the driver identity information is determined.

[0018] In a possible implementation, the determination of the corresponding driving mode according to the driver state signal includes:

[0019] According to the driver state signal, a response mode corresponding to each of various actuators is determined.

[0020] The response modes corresponding to the various actuators are combined to obtain the driving mode corresponding to the driver state signal.

[0021] The actuators include a driving pedal actuator, a brake pedal actuator, a suspension damping actuator, a suspension height actuator, a steering assist actuator and a rear wheel steering angle actuator, and each actuator corresponds to a different response mode.

[0022] In a possible implementation, after the current driving mode is switched to the determined driving mode, the method further includes:

[0023] The brake light is controlled to be turned on.

[0024] In a second aspect, the application provides a vehicle driving mode control device, which includes:

[0025] A monitoring module is configured to monitor the driver state in the vehicle and generate a driver state signal.

[0026] A determination module is configured to determine a corresponding driving mode according to the driver state signal.

[0027] A switching module is configured to switch the current driving mode to the determined driving mode.

[0028] In a third aspect, the application provides a device including a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the method according to the first aspect or any possible implementation of the first aspect.

[0029] In a fourth aspect, the present application provides a vehicle using the device described in the above embodiments.

[0030] In a fifth aspect, the present application provides a computer readable storage medium storing a computer program, and the computer program, when executed by a processor, implements the steps of the vehicle driving mode control method according to the first aspect or any possible implementation of the first aspect.

[0031] The embodiments of the present application provide a vehicle driving mode control method, device, equipment and vehicle. The driver state signal is generated by monitoring the driver state in the vehicle, and the corresponding driving mode is determined according to the driver state signal. The current driving mode is switched to the determined driving mode, the integration of the in-vehicle monitoring system and the chassis system is realized, the driving mode of the chassis system is automatically changed according to the driver state, and the vehicle makes a pre-response in terms of drivability, comfort, controllability and safety. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0033] Figure 1 is the implementation flowchart of the vehicle driving mode control method provided by the embodiments of the present application;

[0034] Figure 2 is a schematic diagram of the vehicle driving mode control device provided by the embodiments of the present application;

[0035] Figure 3 is a schematic diagram of the device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0036] In the following description, specific details are set forth in order to provide a thorough understanding of the embodiments of the present application. However, persons skilled in the art should understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0037] In order to make the purpose, technical solutions and advantages of the present application clearer, the following will be described by specific embodiments in conjunction with the drawings.

[0038] In the embodiment, the in-vehicle monitoring system is integrated with the chassis system to realize the interaction between the in-vehicle monitoring system and the chassis system, as shown in Figure 1 The implementation flowchart of the control method of the vehicle driving mode provided by the embodiment of the application is shown in the following figure, and the details are as follows:

[0039] In step 101, the driver state in the vehicle is monitored to generate a driver state signal.

[0040] Optionally, this step can include that the in-vehicle monitoring system monitors the driver state, generates a driver state signal in real time, or generates a driver state signal according to the driver state at a preset interval.

[0041] The in-vehicle monitoring system includes a camera arranged in the vehicle, for example, a camera arranged near the steering wheel or a camera arranged at the top of the front window, for capturing the facial image of the driver.

[0042] Optionally, the driver state signal includes the sign information of driving the vehicle for the first time or the sign information of driving the vehicle for the second time, as well as the driver identity information and the driver state information.

[0043] By capturing the facial image of the driver, it is identified whether the current driver is driving the vehicle for the first time, and the driver identity information and the current driver state information are identified.

[0044] Here, the driver identity information can be the captured facial image of the driver.

[0045] Optionally, monitoring the driver state in the vehicle to generate a driver state signal can include:

[0046] The captured facial image of the driver is matched with the driver facial image saved in the vehicle, and when the matching is successful, the sign information of driving the vehicle for the second time is obtained; otherwise, the sign information of driving the vehicle for the first time is obtained.

[0047] According to the captured facial image of the driver, the current facial expression of the driver is identified to obtain the current state information of the current driver.

[0048] The sign information of driving the vehicle for the first time or the sign information of driving the vehicle for the second time, as well as the captured facial image of the driver and the current state information of the current driver are included in the driver state signal. That is, the driver identity information can be the captured facial image of the driver.

[0049] Optionally, when the facial image matching is performed again, the similarity of the feature points at the same position in the two facial images can be calculated, and when the similarity is not less than a preset threshold, it is determined that the matching is successful, and when the similarity is less than the preset threshold, it is determined that the matching fails.

[0050] The driver state information can include road rage state, drowsiness state, distraction state, etc. For example, if the photographed driver facial image is an angry expression, the road rage state can be identified; if the photographed driver facial image is an expression of half-closed eyes or yawning, the drowsiness state can be identified; and if the photographed driver facial expression is an expression of not looking at the front road surface, the distraction state can be identified.

[0051] The in-vehicle monitoring system transmits the driver state signal to the vehicle chassis system, and the vehicle chassis system determines the corresponding driving mode according to the driver state signal.

[0052] In step 102, the corresponding driving mode is determined according to the driver state signal.

[0053] In an embodiment, this step can include recording the operation information of the current driver and generating the corresponding driving mode according to the operation information if the driver state signal includes the initial driving of the vehicle flag information; and saving the driver identity information and the corresponding driving mode.

[0054] If the driver state signal includes the re-driving of the vehicle flag information, the driving mode corresponding to the driver identity information is determined.

[0055] When the driver initially drives the vehicle, there is no saved driving mode that matches his driving habits, so during his driving of the vehicle, his operation information of the vehicle is recorded, and the chassis system generates a driving mode that matches his driving habits according to the operation information. When this driver drives the vehicle next time, the driving mode that matches the driving habits of the driver can be automatically switched.

[0056] Optionally, the operation information of the current driver can include the number / frequency / travel of the brake pedal, the number / frequency / travel of the drive pedal, the vehicle speed, the steering angle, the braking distance, the driving distance, etc. Here, the travel of the brake pedal can be the distance of the downward movement of the brake pedal. Similarly, the travel of the drive pedal can be the distance of the downward movement of the drive pedal.

[0057] In an embodiment, during driving with the current driving mode, the driving mode corresponding to the driver state information is determined according to the real-time received driver state information.

[0058] It should be noted that the correspondence table of the driver state information and the corresponding driving mode is also saved in the chassis system, so that the corresponding driving mode can be determined according to the received driver state information.

[0059] In an embodiment, in this step, according to the driver state signal, the response mode corresponding to each actuator is determined, wherein the actuator includes a drive pedal actuator, a brake pedal actuator, a suspension damping actuator, a suspension height actuator, a steering assist actuator, and a rear wheel steering angle actuator.

[0060] Each actuator corresponds to a different response mode, for example, according to the response intensity of various actuators such as drive pedal force, brake pedal force, suspension damping, suspension height, steering assist, rear wheel steering angle, etc. The response mode of each actuator can be divided into sports mode, standard mode, and comfort mode.

[0061] The response modes corresponding to various actuators are combined to obtain the driving mode corresponding to the driver state signal.

[0062] For example, when the driver state signal is road rage state, the corresponding driving mode is determined to be heavy mode, wherein the heavy mode can include: the drive pedal actuator is in sports mode, the steering assist actuator is in sports mode, and the brake pedal actuator is in comfort mode. At this time, the drive pedal pressure is calibrated to be hard, that is, the drive pedal pressure is greater than the preset drive pressure, and more pressure is required to accelerate, preventing the driver from performing dangerous behaviors such as overtaking due to anger. Similarly, the steering assist is calibrated to be hard, that is, the steering assist is greater than the preset pressure, and the brake pedal is more sensitive, that is, the brake pedal pressure is less than the preset brake pressure, and it is easier to brake.

[0063] Therefore, the sports mode can be understood as needing more force to operate, the standard mode can be understood as needing normal force to operate, and the comfort mode can be understood as needing less force than normal force to operate.

[0064] For example, when the driver state signal is drowsy state, the corresponding driving mode is determined to be comfort mode, wherein the comfort mode can include: the drive pedal actuator is in standard mode, the steering assist actuator is in comfort mode, and the brake pedal actuator is in comfort mode.

[0065] For example, when the driver state signal is distracted state, the corresponding driving mode is determined to be road feeling mode, wherein the road feeling mode can include: the drive pedal actuator is in comfort mode, the steering assist actuator is in comfort mode, the brake pedal actuator is in comfort mode, and the suspension damping is in sports mode.

[0066] It should be noted that when each actuator has three response modes, the driving mode can be freely combined by the three response modes to obtain 729 driving modes, which can meet the driving habits of different drivers and realize the driving mode of thousands of people.

[0067] Step 103, switching the current driving mode to the determined driving mode.

[0068] When the new driving mode is determined, the chassis system switches the current driving mode to the new driving mode and makes a corresponding response.

[0069] In an embodiment, after the current driving mode is switched to the determined driving mode and the corresponding response is made, it can further include: when the preset driving mode, controlling the brake light to light up to remind the driver to brake in time. For example, when the heavy mode, comfortable mode or road feeling mode, control the brake light to light up.

[0070] The above-mentioned vehicle driving mode control method can realize the integration of the in-vehicle monitoring system and the chassis system by determining the corresponding driving mode according to the received driver state signal sent by the in-vehicle monitoring system, and switching the current driving mode to the determined driving mode, so that the chassis system can automatically change the driving mode according to the state of the driver, and the vehicle can make a pre-response in terms of drivability, comfort, handling and safety.

[0071] It should be understood that the size of the serial number of each step in the above-mentioned embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0072] The following is the device embodiment of the present application. For details not described in detail, please refer to the corresponding method embodiments described above.

[0073] Figure 2 The structure of the vehicle driving mode control device provided by the embodiment of the present application is shown. It is applied to the chassis system side. For the convenience of description, only the part related to the embodiment of the present application is shown, and the details are as follows:

[0074] As Figure 2 The vehicle driving mode control device includes a monitoring module 201, a determination module 202 and a switching module 203.

[0075] The monitoring module 201 is used to monitor the state of the driver in the vehicle and generate a driver state signal.

[0076] The determination module 202 is used to determine the corresponding driving mode according to the driver state signal.

[0077] The switching module 203 is used to switch the current driving mode to the determined driving mode.

[0078] Optionally, the driver state signal includes: initial driving of the vehicle flag information or re-driving of the vehicle flag information, and driver identity information;

[0079] When the determination module 202 determines the corresponding driving mode according to the driver state signal, it can be used for:

[0080] If the driver state signal includes the sign information of driving the vehicle for the first time, the operation information of the current driver is recorded, and the corresponding driving mode is generated according to the operation information; the driver identity information and the corresponding driving mode are saved.

[0081] Optionally, the driver state signal includes: driver state information;

[0082] When the determining module 202 determines the corresponding driving mode according to the driver state signal, the determining module 202 can be configured to:

[0083] Determine the driving mode corresponding to the driver state information according to the real-time received driver state information.

[0084] Optionally, the driver state signal includes: the sign information of driving the vehicle for the first time and the driver identity information; the determining module 202 is further configured to:

[0085] If the driver state signal includes the sign information of driving the vehicle for the first time, determine the driving mode corresponding to the driver identity information.

[0086] Optionally, when the determining module 202 determines the corresponding driving mode according to the driver state signal, the determining module 202 is configured to:

[0087] Determine the response mode corresponding to each of the actuators according to the driver state signal;

[0088] Combine the response modes corresponding to the actuators to obtain the driving mode corresponding to the driver state signal;

[0089] The actuators include a driving pedal actuator, a brake pedal actuator, a suspension damping actuator, a suspension height actuator, a steering assist actuator, and a rear wheel steering angle actuator, and each actuator corresponds to a different response mode.

[0090] Optionally, after the switching module 203 switches the current driving mode to the determined driving mode, the switching module 203 is further configured to:

[0091] Control the brake light to be on.

[0092] The vehicle driving mode control device can monitor the driver state in the vehicle through the monitoring module, generate a driver state signal, determine the corresponding driving mode according to the driver state signal through the determining module, and switch the current driving mode to the determined driving mode through the switching module, so as to realize the integration of the in-vehicle monitoring system and the chassis system, automatically change the driving mode of the chassis system according to the state of the driver, and make a pre-response of the vehicle in terms of drivability, comfort, controllability, and safety.

[0093] The embodiments of the present application also provide a computer program product having program codes which, when running in a corresponding processor, controller, computing device or terminal, perform the steps of any one of the embodiments of the control method for vehicle driving mode described above, for example Figure 1 Those skilled in the art should understand that the method and the device proposed by the embodiments of the present application can be implemented in various forms of hardware, software, firmware, special-purpose processor or combination thereof. The special-purpose processor can include application-specific integrated circuit (ASIC), reduced instruction set computer (RISC) and / or field programmable gate array (FPGA). The proposed method and device are preferably implemented as a combination of hardware and software. The software is preferably installed as an application program on a program storage device. It is typically a machine based on a computer platform with hardware, such as one or more central processing units (CPUs), random access memories (RAMs) and one or more input / output (I / O) interfaces. An operating system is also typically installed on the computer platform. The various processes and functions described herein can be part of the application program or part thereof can be executed by the operating system.

[0094] Figure 3 is a schematic diagram of the device provided by the embodiments of the present application. As Figure 3 shown, the device 3 of the embodiments includes a processor 30, a memory 31 and a computer program 32 stored in the memory 31 and executable on the processor 30. The processor 30 implements the steps in the embodiments of the control method for vehicle driving mode described above when executing the computer program 32, for example Figure 1 shown. Alternatively, the processor 30 implements the functions of the modules / units in the embodiments of the device described above when executing the computer program 32, for example Figure 2 shown.

[0095] For example, the computer program 32 can be divided into one or more modules / units which are stored in the memory 31 and executed by the processor 30 to complete / implement the solutions provided by the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 32 in the device 3. For example, the computer program 32 can be divided into Figure 2 shown.

[0096] The device 3 can include, but is not limited to, the processor 30, the memory 31. Those skilled in the art can understand that Figure 3The example of the device 3 is not intended to limit the device 3, which can include more or less components than those shown, or combine certain components, or have different components, such as the device can also include input / output devices, network access devices, buses, etc.

[0097] The processor 30 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0098] The memory 31 can be an internal storage unit of the device 3, such as a hard disk or a memory of the device 3. The memory 31 can also be an external storage device of the device 3, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 31 can include both the internal storage unit and the external storage device of the device 3. The memory 31 is used to store the computer program and other programs and data required by the device. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the unit and module in the system can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0100] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0101] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those 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.

[0102] In the embodiments provided in the present application, it should be understood that the disclosed apparatuses / devices and methods can be implemented in other ways. For example, the above-described apparatus / device embodiments are only schematic. The division of the modules or units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between the units can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or in other forms.

[0103] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0104] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0105] The embodiments of the present application also provide a vehicle comprising the device described in the above embodiments, and having the beneficial effects of the device.

[0106] The integrated module / unit, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiments can also be implemented by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of the vehicle driving mode control method embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the computer readable medium can include appropriate contents according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0107] In addition, the features of the embodiments shown in the drawings or mentioned in the specification of the present application are not necessarily understood as independent embodiments from each other. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments, thereby generating other embodiments not described in words or with reference to the drawings.

[0108] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method of a driving mode of a vehicle, characterized by, The method comprises the steps of: monitoring the driver state in the vehicle to generate a driver state signal; wherein the driver state is represented by a facial image of the driver; determining a corresponding driving mode according to the driver state signal; switching the current driving mode to the determined driving mode; wherein the driver state signal comprises driver state information; the driver state information comprises road rage state, drowsiness state and distraction state; the driver state information is obtained according to a facial expression recognized based on the facial image of the driver; determining a corresponding driving mode according to the driver state signal comprises: determining a corresponding response mode of each actuator according to the driver state signal, combining the corresponding response modes of various actuators to obtain the driving mode corresponding to the driver state signal, so as to improve driving safety; the response mode is divided into motion mode, standard mode and comfort mode according to the size of the required force operation; the standard mode requires normal force operation, the motion mode requires force operation greater than normal force, and the comfort mode requires force operation less than normal force; the response mode of the actuator is different under different driving modes; wherein the actuators comprise drive pedal actuators, steering assist actuators and brake pedal actuators; when the driver state information is the road rage state, the corresponding driving mode comprises the drive pedal actuators in the motion mode, the steering assist actuators in the motion mode, and the brake pedal actuators in the comfort mode.

2. The control method of a vehicle driving mode according to claim 1, characterized by, The driver state signal further comprises initial driving of the vehicle flag information and driver identity information; determining a corresponding driving mode according to the driver state signal further comprises: if the driver state signal includes the initial driving of the vehicle flag information, recording the operation information of the current driver, and generating a corresponding driving mode according to the operation information; saving the driver identity information and the corresponding driving mode.

3. The control method of a vehicle driving mode according to claim 1, characterized by, determining a corresponding driving mode according to the driver state signal further comprises: determining a driving mode corresponding to the driver state information according to the real-time received driver state information.

4. The control method of a vehicle driving mode according to claim 1, characterized by, The driver state signal further comprises initial driving of the vehicle flag information and driver identity information; determining a corresponding driving mode according to the driver state signal further comprises: if the driver state signal includes the initial driving of the vehicle flag information, determining a driving mode corresponding to the driver identity information.

5. The control method of a vehicle driving mode according to any one of claims 1 to 4, characterized by, The actuators further comprise suspension damping actuators, suspension height actuators and rear wheel steering angle actuators, each of which corresponds to a different response mode.

6. The control method of a vehicle drive mode according to any one of claims 1-4, characterized by, After switching the current driving mode to the determined driving mode, it further comprises: controlling the brake light to light up.

7. A control device of a driving mode of a vehicle, characterized by The method comprises the steps of: a monitoring module for monitoring the driver state in the vehicle to generate a driver state signal; wherein the driver state is represented by a facial image of the driver; a determining module for determining a corresponding driving mode according to the driver state signal; a switching module for switching the current driving mode to the determined driving mode; The driver state signal comprises driver state information, the driver state information comprises a road rage state, a drowsiness state and a distraction state, and the driver state information is obtained according to a facial expression recognized based on a facial image of the driver. The determination module is further configured to determine response modes corresponding to various actuators respectively according to the driver state signal, combine the response modes corresponding to the various actuators, and obtain a driving mode corresponding to the driver state signal, so as to improve driving safety; the response modes are divided into a sport mode, a standard mode and a comfort mode according to sizes of force operations required; the standard mode requires normal force operation, the sport mode requires force operation greater than normal force, and the comfort mode requires force operation less than normal force; the response modes corresponding to the actuators are different in different driving modes; The actuators comprise a drive pedal actuator, a steering assist actuator and a brake pedal actuator; when the driver state information is the road rage state, the corresponding driving mode comprises that the drive pedal actuator is in the sport mode, the steering assist actuator is in the sport mode, and the brake pedal actuator is in the comfort mode.

8. An apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, The processor executes the computer program to implement the vehicle driving mode control method of any one of claims 1 to 6.

9. A vehicle characterized by comprising: The device of claim 8 is used.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the steps of the vehicle driving mode control method of any one of claims 1 to 6. The computer program is executed by the processor to implement the steps of the vehicle driving mode control method of any one of claims 1 to 6.

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