A vehicle control method, device, equipment and medium

Abstract

This application provides a vehicle control method, apparatus, device, and medium. The method includes: after acquiring abnormal information generated during vehicle operation, controlling the vehicle's human-machine interface to output a first-level warning message based on the abnormal information; the first-level warning message prompting the driver to take over the vehicle; determining parking instruction information based on the vehicle's corresponding status information and road information; controlling the human-machine interface to output the parking instruction information to prompt the driver to park the vehicle according to the parking instruction information; determining whether the driver has taken over the vehicle within a preset time period for outputting the first-level warning message; and stopping the vehicle according to the parking instruction information if the driver has not taken over the vehicle. This method increases the interactivity between the vehicle and the driver, enabling timely prompts for the driver to take over the vehicle, thereby avoiding driving hazards.

Description

Technical Field

[0001] This application belongs to the field of autonomous driving technology, and in particular relates to a vehicle control method, device, equipment and medium, which can be applied to scenarios such as ports, highways, logistics, mines, closed parks or urban transportation. Background Technology

[0002] In recent years, with the development of autonomous driving technology, autonomous vehicles have been deployed and operated in scenarios such as ports and highways.

[0003] During autonomous driving, if an abnormal situation occurs that prevents the vehicle from continuing autonomous driving, the existing safe parking system will prompt the driver to take over the vehicle via voice, text, or other means. If the driver does not take over, the system will automatically control the vehicle to stop based on the surrounding environment. When the driver takes over, the system will park the vehicle in a safe area such as a no-parking lane, based on the surrounding road conditions.

[0004] However, due to insufficient interaction between the vehicle and the driver, the driver may not receive the takeover prompt in time, and may not be able to take appropriate measures to stop safely after receiving the takeover prompt, which may easily lead to driving hazards. Summary of the Invention

[0005] This application provides a vehicle control method, device, equipment, and medium to address the problem of insufficient interaction between the vehicle and the driver, which easily leads to driving hazards.

[0006] In a first aspect, this application provides a vehicle control method, comprising:

[0007] After obtaining abnormal information generated during vehicle operation, the system controls the vehicle's human-machine interface to output a first-level warning message based on the abnormal information. The first-level warning message is used to prompt the driver of the vehicle to take over the vehicle.

[0008] The parking instruction information is determined based on the vehicle status information and road information corresponding to the vehicle.

[0009] The human-machine interface is controlled to output the parking instruction information to prompt the driver to park the vehicle according to the parking instruction information;

[0010] Within a preset time period for outputting a Level 1 warning message, determine whether the driver has taken over the vehicle;

[0011] When it is detected that the driver has not taken over the vehicle, the vehicle is stopped according to the stop instruction information.

[0012] In this embodiment, after acquiring abnormal information generated during vehicle operation, the vehicle's human-machine interface can be controlled to output a first-level warning message, thereby prompting the driver to take over the vehicle. Subsequently, parking instruction information is determined based on the vehicle's status information and road information, and the human-machine interface is controlled to output this parking instruction information. This method, by continuously outputting various information through the human-machine interface, increases the interactivity between the vehicle and the driver, thereby preventing driving hazards. On one hand, the existence of the parking instruction information allows the driver to immediately park the vehicle according to the instruction after receiving the take-over prompt, eliminating the need for the driver to decide on the parking location and route based on road conditions, thus shortening the driver's reaction time and preventing driving hazards. On the other hand, if the driver still does not take over the vehicle after the first-level warning message is output, the parking instruction information can continuously prompt the driver to take over the vehicle as soon as possible. Although the safe parking control system can also control the vehicle to park autonomously when the driver has not taken over, it is undoubtedly more flexible and safer for the driver to control the vehicle when an abnormality occurs. Therefore, after outputting the warning message, the parking instruction information can be output again to prompt the driver to take over the vehicle as soon as possible, further preventing driving hazards.

[0013] In one possible implementation, determining the parking instruction information based on the vehicle status information and road information corresponding to the vehicle specifically includes:

[0014] The parking route information is determined based on the vehicle status information and road information corresponding to the vehicle.

[0015] The lane through which the vehicle stops is determined based on the parking route information;

[0016] The stopping danger information is determined based on the first vehicle position and the first current vehicle speed corresponding to the vehicle traveling in the lane, wherein the vehicle is located behind the vehicle in the direction of travel.

[0017] The stopping instruction information is determined based on the stopping route information and the stopping hazard information.

[0018] In this embodiment, after the human-machine interface controlling the vehicle outputs a level-one warning message to alert the driver, parking instruction information can also be generated to guide the driver to safely park the vehicle. This increases the interactivity between the vehicle and the driver, preventing driving hazards caused by the driver's delayed response after taking over. The parking path information in the parking instruction information indicates a safe parking path for the vehicle, while the parking hazard information indicates the degree of danger of parking according to the parking path information. Therefore, the parking instruction information can guide the driver or vehicle to smoothly park the vehicle in a dangerous area, thereby avoiding driving hazards. Furthermore, since the vehicle may change lanes when parking, i.e., need to switch to other lanes, vehicles behind the vehicle in the direction of travel in that lane may collide with the vehicle during the parking process. Therefore, it is necessary to determine the parking hazard information based on the first vehicle position and the first current speed of the vehicle in the lane, thereby determining whether parking can be carried out according to the parking path information, ensuring parking safety, and avoiding driving hazards.

[0019] In one possible implementation, determining the stopping hazard information based on the first vehicle position and the first current vehicle speed corresponding to the vehicle traveling in the lane specifically includes:

[0020] Based on the position of the first vehicle corresponding to the vehicle traveling in the lane, it is determined whether there is a vehicle traveling within a first preset distance from the vehicle in the lane;

[0021] When there are no vehicles within a first preset distance of the vehicle, the parking danger information is the first parking information;

[0022] When a vehicle is traveling within a first preset distance from the vehicle, it is determined whether the traveling vehicle is within a second preset distance from the vehicle. If so, the stopping danger information is the third stopping information. If not, it is determined whether the first current speed of the traveling vehicle is greater than a speed threshold. If the first current speed is greater than the speed threshold, the stopping danger information is the third stopping information. If the first current speed is not greater than the speed threshold, the stopping danger information is the second stopping information, and the first preset distance is greater than the second preset distance.

[0023] In this embodiment, the degree of danger of stopping based on the stopping path information can be determined according to the distance area and speed range of vehicles traveling in the lane, and different stopping danger information can be determined according to different degree of danger. By classifying the stopping danger information in this way, the interactivity between vehicles and drivers can be further increased, thereby avoiding driving hazards.

[0024] In one possible implementation, stopping the vehicle according to the parking instruction information specifically includes:

[0025] Determine whether the parking danger information in the parking instruction information is a third parking information;

[0026] If so, the vehicle will not stop according to the stop instruction information until the stop danger information changes to the first stop information or the second stop information;

[0027] If not, determine whether the parking danger information is the first parking information. If the parking danger information is the first parking information, park the vehicle according to the parking path information in the parking instruction information. If the parking danger information is not the first parking information, obtain the second vehicle position and second current speed of the vehicle with the smallest distance from the vehicle in the lane, and park the vehicle according to the parking path information, the second vehicle position, and the second current speed.

[0028] In this embodiment, when parking a vehicle according to parking instruction information, the degree of parking hazard can first be determined based on the parking hazard information in the parking instruction information. Then, based on the degree of parking hazard, a decision can be made on whether to park the vehicle according to the parking route information, and how to park the vehicle according to the parking route information. This setting can further improve the safety of vehicle parking and avoid driving hazards.

[0029] In one possible implementation, determining whether the driver has taken over the vehicle within a preset time period for outputting the Level 1 warning message specifically includes:

[0030] Within a first preset time period for outputting a Level 1 warning message, determine whether the driver has taken over the vehicle;

[0031] When it is detected that the driver has not taken over the vehicle, the human-machine interface is controlled to output a secondary warning message according to the abnormal information. Within a second preset time period of outputting the secondary warning message, it is determined whether the driver has taken over the vehicle. The secondary warning message is used to prompt the driver of the vehicle to take over the vehicle.

[0032] The first-level warning information includes text information, sound information, and graphic information, while the second-level warning information includes text information, sound information, graphic information, and tactile information.

[0033] In this embodiment, if the driver still does not take over the vehicle after the Level 1 warning message is output, a Level 2 warning message with a higher level of alertness can be output to prompt the driver to take over the vehicle. This prevents the driver from ignoring the Level 1 warning due to falling asleep, drowsy, or lack of concentration, and promptly prompts the driver to take over the vehicle to avoid driving hazards. Furthermore, the Level 1 warning message only includes text, sound, and graphic information with a low level of alertness, which will not cause discomfort to the driver, thus allowing the driver to take over the vehicle comfortably. The Level 2 warning message includes not only text, sound, and graphic information with a higher level of alertness, but also tactile information with a higher level of alertness, further increasing the likelihood of the driver taking over the vehicle through multiple forms of prompts.

[0034] In one possible implementation, the method further includes:

[0035] After detecting that the vehicle has completed parking, the abnormal information and the vehicle's location are sent to the cloud server;

[0036] After receiving the information reception signal from the cloud server, the human-machine interface is controlled to output rescue selection information;

[0037] If rescue information is received from the human-machine interface, or if no information is received from the human-machine interface within a third preset time period, a rescue request is sent to the cloud server. The rescue request is used to instruct the cloud server to determine the corresponding rescue vehicle based on the vehicle location and send the abnormal information and vehicle location to the rescue vehicle.

[0038] In this embodiment, before outputting rescue selection information through the human-machine interface, it can be determined whether the vehicle and the cloud server can communicate normally. Rescue selection information is only output when normal communication is possible. This setting avoids resource waste and ensures that the rescue request can be sent normally. Furthermore, by controlling the human-machine interface to output rescue selection information, the interactivity between the vehicle, driver, and cloud server is increased, giving the driver the option to initiate rescue. The decision to send a rescue request to the cloud server can be based on the driver's feedback. If the driver believes the problem is minor and can be resolved independently, rescue is not required; if the driver believes the problem cannot be resolved independently or is unable to make a selection due to injury, rescue is necessary. This setting not only ensures the timeliness and necessity of rescue but also further avoids resource waste.

[0039] In one possible implementation, the abnormal information includes one or more of the following: abnormal vehicle status information, abnormal driver status information, abnormal driving environment information, and vehicle malfunction information.

[0040] In this embodiment, abnormal vehicle status, abnormal driver status, abnormal information displayed in the driving environment, or vehicle malfunction are all factors that can prevent the vehicle from performing autonomous driving normally. Therefore, in order to improve the accuracy of vehicle driving status judgment and avoid incorrect judgment, a combination of one or more of the above information can be used as abnormal information.

[0041] Secondly, this application provides a vehicle control device, comprising:

[0042] The warning information output module is used to control the human-machine interface of the vehicle to output a first-level warning information after obtaining abnormal information generated during the vehicle's operation. The first-level warning information is used to prompt the driver of the vehicle to take over the vehicle.

[0043] The parking instruction information determination module is used to determine parking instruction information based on the vehicle status information and road information corresponding to the vehicle.

[0044] The parking instruction information output module is used to control the human-machine interface to output the parking instruction information to prompt the driver to park the vehicle according to the parking instruction information;

[0045] The takeover judgment module is used to determine whether the driver has taken over the vehicle within a preset time period for outputting a level one warning message;

[0046] A safe parking module is used to park the vehicle according to the parking instruction information when it is detected that the driver has not taken over the vehicle.

[0047] Thirdly, this application provides a vehicle control device, including: a processor, and a memory communicatively connected to the processor;

[0048] The memory stores computer-executed instructions;

[0049] The processor executes computer execution instructions stored in the memory to implement the above-described method.

[0050] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the above-described method.

[0051] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method. Attached Figure Description

[0052] Figure 1A diagram showing the human-machine interface of a vehicle according to one embodiment;

[0053] Figure 2 This is a human-machine interface display diagram of a vehicle according to an embodiment of this application;

[0054] Figure 3 This is the interface display diagram for area A;

[0055] Figure 4 This is a flowchart of a vehicle control method according to an embodiment of this application;

[0056] Figure 5 This is a flowchart of a vehicle control method according to another embodiment of this application;

[0057] Figure 6 This is a diagram showing the display interface of rescue selection information according to another embodiment of this application;

[0058] Figure 7 This is a schematic diagram of the structure of a vehicle control device according to an embodiment of this application;

[0059] Figure 8 This is a schematic diagram of the structure of a vehicle control device according to an embodiment of this application.

[0060] Attached reference numerals: 1. Vehicle; 2. Human-machine interface; 3. Safe parking position; 4. Parking route information; 5. Lane; 6. Parking hazard information; 71. Warning information output module; 72. Parking instruction information determination module; 73. Parking instruction information output module; 74. Takeover judgment module; 75. Safe parking module. Detailed Implementation

[0061] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0062] First, let me explain the terms used in this application:

[0063] Human Machine Interface (HMI), also known as user interface or user interface, is the medium for interaction and information exchange between a system and a user. It can realize the conversion between the internal form of information and the form that humans can accept. HMI exists in all fields involving human-computer information exchange.

[0064] The vehicle control method of this application can be applied to scenarios such as ports, highways, logistics, mines, border crossings, closed parks, or urban traffic. As long as the scenario involves autonomous driving, the vehicle control method of this application can be applied.

[0065] During autonomous driving, abnormal situations such as vehicle malfunction, driver malfunction, abnormal driving environment, or vehicle failure may occur, potentially causing the vehicle to cease autonomous driving and necessitating an emergency stop. Since driver control is undoubtedly more flexible and safer when an abnormality occurs, it is necessary to prompt the driver to take over the vehicle as soon as possible. Existing safe stopping systems will prompt the driver to take over the vehicle through voice, text, or other means. If the driver does not take over, the system will automatically stop the vehicle based on the surrounding environment. When the driver takes over, the system will stop the vehicle in a safe area such as a no-parking lane, based on the surrounding road conditions.

[0066] Figure 1 This is a diagram showing the human-machine interface of a vehicle according to one embodiment, such as... Figure 1 As shown, 1 represents the vehicle and 2 represents the human-machine interface. When vehicle 1 malfunctions, the safe parking system will control the human-machine interface 2 to output the warning message "Vehicle malfunction, please take over!!!", thus prompting the driver to take over the vehicle.

[0067] However, due to insufficient interaction between the vehicle and the driver, on the one hand, the safe stopping system will automatically stop after one or two prompts and will no longer prompt the driver. In such situations, the driver needs to handle the situation more flexibly, and automatic stopping may actually increase the probability of driving hazards. On the other hand, the driver may have been inattentive beforehand, and even if they receive the takeover prompt, they may not be able to react in time, or they may have to temporarily observe the road conditions to determine a safe stopping location, resulting in a longer reaction time and further increasing the risk of driving hazards. Therefore, increasing the interaction between the vehicle and the driver to promptly prompt the driver to take over the vehicle and provide stopping routes is particularly important.

[0068] The vehicle control method provided in this application aims to solve the aforementioned technical problems of the prior art. This method, upon receiving abnormal information generated during vehicle operation, controls the vehicle's human-machine interface to output a first-level warning message, thereby prompting the driver to take over the vehicle. Subsequently, it determines parking instruction information based on the vehicle's corresponding status information and road information, and controls the human-machine interface to output this parking instruction information. This method, by continuously outputting various information through the human-machine interface, increases the interactivity between the vehicle and the driver, thereby avoiding driving hazards. On the one hand, the existence of the parking instruction information allows the driver to immediately stop the vehicle according to the parking instruction information after receiving the take-over prompt, without needing the driver to decide on the parking location and route based on road conditions, shortening the driver's reaction time and avoiding driving hazards. On the other hand, if the driver still does not take over the vehicle after the first-level warning message is output, the existence of the parking instruction information can continuously prompt the driver to take over the vehicle as soon as possible. Although the safe parking control system can control the vehicle to stop autonomously even when the driver has not yet taken over, it is undoubtedly more flexible and safer for the driver to take control of the vehicle when an abnormality occurs. Therefore, after outputting warning information, parking instruction information can be output again to prompt the driver to take over the vehicle as soon as possible, further avoiding driving hazards.

[0069] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0070] Figure 2 This is a human-machine interface display diagram of a vehicle according to an embodiment of this application, such as... Figure 2 As shown, 1 represents the vehicle and 2 represents the human-machine interface. When vehicle 1 malfunctions, the safe parking system will not only control the human-machine interface 2 to output the warning message "Vehicle malfunction, please take over!!!" to prompt the driver to take over the vehicle, but will also control the human-machine interface 2 to output the parking instruction information corresponding to area A to prompt the driver to park the vehicle according to the parking instruction information. Figure 3 The interface display diagram for area A is as follows: Figure 3 As shown, dot 3 indicates a safe parking position, dashed line segment 4 indicates parking path information, 5 indicates the lane, and dashed box 6 indicates parking hazard information. When parking vehicle 1, the driver can safely park vehicle 1 at dot 3 according to the dashed box 6 and dashed line segment 4 displayed in area A.

[0071] Example 1

[0072] Figure 4This is a flowchart of a vehicle control method provided in an embodiment of this application. The executing entity of the vehicle control method provided in this embodiment can be a safe parking control system on the vehicle, or it can be the vehicle itself. This embodiment describes the vehicle control method with the safe parking control system as the executing entity. Figure 4 As shown, the vehicle control method may include the following steps:

[0073] S101: After obtaining abnormal information generated during vehicle operation, control the vehicle's human-machine interface to output a first-level warning message based on the abnormal information. The first-level warning message is used to prompt the driver to take over the vehicle.

[0074] In this embodiment, during the autonomous driving process, the safe parking control system also collects various information generated or received during the vehicle's operation in real time, and analyzes and judges this information. When certain information is deemed abnormal, it can be considered that the vehicle is currently experiencing an anomaly and is no longer suitable for continuing autonomous driving. The driver needs to manually stop the vehicle and conduct an inspection. At this time, the human-machine interface of the vehicle needs to output a level one warning message to prompt the driver to take over the vehicle.

[0075] In this embodiment, the Level 1 warning message can be generated based on abnormal information control to inform the driver of the cause of the current abnormality, so that relevant measures can be taken in a timely manner.

[0076] In one possible implementation, the abnormal information in step S101 above may include one or more of the following: abnormal vehicle status information, abnormal driver status information, abnormal driving environment information, and vehicle fault information. Of course, other abnormal information may also be included, without any limitation.

[0077] In this embodiment, abnormal vehicle status information can be abnormal vehicle operating parameters, such as certain parameters deviating or having errors compared to normal parameters during driving; abnormal driving environment information can be environmental information that is not suitable for autonomous driving, such as rainy or snowy weather, or mudslides; abnormal driver status information can be physical information that is not suitable for autonomous driving, such as a sudden illness of the driver; and vehicle fault information can be fault information that occurs during vehicle driving.

[0078] In this embodiment, abnormal vehicle status, abnormal driver status, abnormal information displayed in the driving environment, or vehicle malfunction are all factors that can prevent the vehicle from performing autonomous driving normally. Therefore, in order to improve the accuracy of vehicle driving status judgment and avoid incorrect judgment, a combination of one or more of the above information can be used as abnormal information.

[0079] S102: Determine parking instruction information based on the vehicle status information and road information.

[0080] In this embodiment, the parking instruction information can be text information, graphic information, voice information, or a combination of the above information, without any restrictions.

[0081] In one possible implementation, step S102, which determines the parking instruction information based on the vehicle status information and road information, may include:

[0082] S1021: Determine the parking route information based on the vehicle status information and road information.

[0083] S1022: Determine the lane the vehicle will pass through when stopping based on the stopping route information.

[0084] S1023: Determine the stopping danger information based on the first vehicle position and the first current vehicle speed corresponding to the vehicle traveling in the lane, where the vehicle is located behind the vehicle in the direction of travel.

[0085] S1024: Determine stop instruction information based on stop route information and stop hazard information.

[0086] In this embodiment, vehicle status information includes, but is not limited to, current vehicle speed, vehicle location, and operating parameters; road information includes, but is not limited to, the vehicle's lane and road congestion level. Those skilled in the art can set these parameters flexibly, and no limitations are imposed here.

[0087] In this embodiment, a vehicle located behind the vehicle in the direction of travel refers to a vehicle that may be at risk of collision with the vehicle during the parking process.

[0088] In this embodiment, the parking instruction information may include parking path information and parking hazard information. The parking path information can be determined based on vehicle status information such as current vehicle speed, vehicle position and operating parameters, as well as road information such as the lane the vehicle is in and the degree of road congestion. The parking hazard information can be determined based on the information of vehicles traveling in the lane the vehicle passes through when parking.

[0089] In this embodiment, the stopping route information can be text, graphic, or voice information, or a combination of the above, without any limitation. Similarly, the stopping hazard information can be text, graphic, or voice information, or a combination of the above, without any limitation.

[0090] In this embodiment, after the human-machine interface controlling the vehicle outputs a level-one warning message to alert the driver, parking instruction information can also be generated to guide the driver to safely park the vehicle. This increases the interactivity between the vehicle and the driver, preventing driving hazards caused by the driver's delayed response after taking over. The parking path information in the parking instruction information indicates a safe parking path for the vehicle, while the parking hazard information indicates the degree of danger of parking according to the parking path information. Therefore, the parking instruction information can guide the driver or vehicle to smoothly park the vehicle in a dangerous area, thereby avoiding driving hazards. Furthermore, since the vehicle may change lanes when parking, i.e., need to switch to other lanes, vehicles behind the vehicle in the direction of travel in that lane may collide with the vehicle during the parking process. Therefore, it is necessary to determine the parking hazard information based on the first vehicle position and the first current speed of the vehicle in the lane, thereby determining whether parking can be carried out according to the parking path information, ensuring parking safety, and avoiding driving hazards.

[0091] In one possible implementation, determining the stopping hazard information based on the first vehicle position and the first current vehicle speed corresponding to the vehicle traveling in the lane in step S1023 above may include:

[0092] 31: Based on the position of the first vehicle corresponding to the vehicle traveling in the lane, determine whether there is a vehicle traveling within a first preset distance from the vehicle in the lane.

[0093] 32: When there are no vehicles within the first preset distance of the vehicle, the parking danger information is the first parking information.

[0094] 33: When a vehicle is traveling within the first preset distance of the vehicle, determine whether the vehicle is within the second preset distance of the vehicle, where the first preset distance is greater than the second preset distance.

[0095] 34: If so, then the docking danger information is the third docking information.

[0096] 35: If not, determine whether the first current vehicle speed corresponding to the vehicle is greater than the vehicle speed threshold.

[0097] 36: If the first current vehicle speed is greater than the vehicle speed threshold, then the stopping danger information is the third stopping information.

[0098] 37: If the first current vehicle speed is not greater than the vehicle speed threshold, then the stopping danger information is the second stopping information.

[0099] In this embodiment, when the distance between driving vehicles is greater than or equal to a first preset distance, the driving vehicle will not collide with the parked vehicle; when the distance between driving vehicles is less than or equal to a second preset distance, the driving vehicle will collide with the parked vehicle at that distance; when the distance between driving vehicles is between the first and second preset distances, the driving vehicle is at risk of colliding with the parked vehicle.

[0100] In this embodiment, the specific first and second preset distances can be flexibly set by those skilled in the art, as long as the first preset distance is greater than the second preset distance. For example, the first preset distance could be 100m and the second preset distance could be 30m; or the first preset distance could be 150m and the second preset distance could be 50m. Furthermore, the vehicle speed threshold can also be flexibly set by those skilled in the art, as long as the distance between driving vehicles is between the first and second preset distances, driving at the vehicle speed threshold will not result in a collision with a parked vehicle. For example, the vehicle speed threshold could be 50km / h or 60km / h.

[0101] In this embodiment, when the parking hazard information is text information and / or graphic information, different colors can be used to correspond to the first parking information, the second parking information, and the third parking information respectively; when the parking hazard information is voice information, different voice frequencies can be used to correspond to the first parking information, the second parking information, and the third parking information respectively; of course, other correspondence methods are also possible, and no restrictions are imposed here.

[0102] For example, the correspondence between parking hazard information and colors is shown in Table 1 below:

[0103] Table 1

[0104] Danger information for stopping color First stop information green Second stop information yellow Third stop information red

[0105] In this embodiment, the degree of danger of stopping based on the stopping path information can be determined according to the distance area and speed range of vehicles traveling in the lane, and different stopping danger information can be determined according to different degree of danger. By classifying the stopping danger information in this way, the interactivity between vehicles and drivers can be further increased, thereby avoiding driving hazards.

[0106] S103: Control the human-machine interface to output parking instruction information to prompt the driver to park the vehicle according to the parking instruction information.

[0107] In this embodiment, after the human-machine interface controlling the vehicle outputs a level one warning message, if the driver still does not take over the vehicle, the output parking instruction message can continue to prompt the driver to take over the vehicle to avoid driving hazards.

[0108] In this embodiment, Figure 2 Area A in the middle indicates stop instruction information. Figure 3 The interface display diagram for area A is as follows: Figure 3 As shown, dot 3 indicates a safe parking location, dashed line segment 4 indicates parking route information, 5 indicates the lane, and dashed box 6 indicates parking hazard information. The color of dashed box 6 can indicate the parking hazard level.

[0109] S104: Within the preset duration of outputting the Level 1 warning message, determine whether the driver has taken over the vehicle.

[0110] In one possible implementation, step S104, which determines whether the driver has taken over the vehicle within a preset duration for outputting the first-level warning information, may include: determining whether the driver has taken over the vehicle within a first preset duration for outputting the first-level warning information; when it is detected that the driver has not taken over the vehicle, controlling the human-machine interface to output a second-level warning information based on the abnormal information, and determining whether the driver has taken over the vehicle within a second preset duration for outputting the second-level warning information, wherein the second-level warning information is used to prompt the driver to take over the vehicle; the first-level warning information includes text information, sound information, and graphic information, and the second-level warning information includes text information, sound information, graphic information, and tactile information.

[0111] In this embodiment, those skilled in the art can flexibly set the first preset duration and the second preset duration. The first preset duration and the second preset duration can be the same or different, and no restrictions are imposed here. For example, the first preset duration and the second preset duration can both be 10 seconds.

[0112] For example, the correspondence between warning messages and various message formats is shown in Table 2 below:

[0113] Table 2

[0114]

[0115] In this embodiment, if the driver still does not take over the vehicle after the Level 1 warning message is output, a Level 2 warning message with a higher level of alertness can be output to prompt the driver to take over the vehicle. This prevents the driver from ignoring the Level 1 warning due to falling asleep, drowsy, or lack of concentration, and promptly prompts the driver to take over the vehicle to avoid driving hazards. Furthermore, the Level 1 warning message only includes text, sound, and graphic information with a low level of alertness, which will not cause discomfort to the driver, thus allowing the driver to take over the vehicle comfortably. The Level 2 warning message includes not only text, sound, and graphic information with a higher level of alertness, but also tactile information with a higher level of alertness, further increasing the likelihood of the driver taking over the vehicle through multiple forms of prompts.

[0116] S105: When it is detected that the driver has not taken over the vehicle, the vehicle shall be stopped according to the stop instruction information.

[0117] In one possible implementation, stopping the vehicle according to the parking instruction information in step S105 above may include:

[0118] S1051: Determine whether the stop danger information in the stop instruction information is a third stop information;

[0119] S1052: If so, do not stop the vehicle according to the stop instruction information until the stop danger information changes to the first stop information or the second stop information.

[0120] S1053: If not, determine whether the parking danger information is the first parking information.

[0121] S1054: If the parking danger information is the first parking information, then park the vehicle according to the parking route information in the parking instruction information.

[0122] S1055: If the parking danger information is not the first parking information, then obtain the second vehicle position and the second current speed of the vehicle with the smallest distance from the vehicle in the lane, and park the vehicle according to the parking path information, the second vehicle position and the second current speed.

[0123] In this implementation, if the parking danger information is the third parking information, it means that there is a risk of collision with other vehicles in the lane. In this case, parking cannot be done according to the parking path information; you must wait for the other vehicles to leave. The parking danger information then changes to the first or second parking information. If the parking danger information is the first parking information, it means that there is no risk of collision with other vehicles in the lane. In this case, you can park immediately according to the parking path information. If the parking danger information is the second parking information, it means that there is a risk of collision with other vehicles in the lane. You need to pay attention to the position and speed of the nearest vehicle in the lane. If the nearest vehicle is far away and its speed is low, you can park at a higher speed according to the parking path information. If the nearest vehicle is close or its speed is high, you need to wait for the other vehicles to leave. The parking danger information then changes to the first parking information.

[0124] In this embodiment, when parking a vehicle according to parking instruction information, the degree of parking hazard can first be determined based on the parking hazard information in the parking instruction information. Then, based on the degree of parking hazard, a decision can be made on whether to park the vehicle according to the parking route information, and how to park the vehicle according to the parking route information. This setting can further improve the safety of vehicle parking and avoid driving hazards.

[0125] In this embodiment, the method of this application can, after acquiring abnormal information generated during vehicle operation, control the vehicle's human-machine interface to output a first-level warning message, thereby prompting the driver to take over the vehicle. Subsequently, it will determine parking instruction information based on the vehicle's corresponding vehicle status information and road information, and control the human-machine interface to output the parking instruction information. This method, by continuously outputting various information through the human-machine interface, increases the interactivity between the vehicle and the driver, thereby avoiding driving hazards. On the one hand, the existence of the parking instruction information allows the driver to immediately park the vehicle according to the parking instruction information after receiving the take-over prompt, without needing the driver to decide on the parking location and route based on road conditions, shortening the driver's reaction time and avoiding driving hazards. On the other hand, if the driver still does not take over the vehicle after the first-level warning message is output, the existence of the parking instruction information can continuously prompt the driver to take over the vehicle as soon as possible. Although the safe parking control system can also control the vehicle to park autonomously when the driver has not taken over, it is undoubtedly more flexible and safer for the driver to control the vehicle when an abnormality occurs. Therefore, after outputting the warning message, the parking instruction information can be output again to prompt the driver to take over the vehicle as soon as possible, further avoiding driving hazards.

[0126] Example 2

[0127] Figure 5 This is a flowchart of a vehicle control method provided in an embodiment of this application. The executing entity of the vehicle control method provided in this embodiment can be a safe parking control system on the vehicle, or it can be the vehicle itself. This embodiment describes the vehicle control method with the safe parking control system as the executing entity. Figure 5 As shown, the vehicle control method may include the following steps:

[0128] S201: After obtaining abnormal information generated during vehicle operation, control the vehicle's human-machine interface to output a first-level warning message based on the abnormal information. The first-level warning message is used to prompt the driver to take over the vehicle.

[0129] In this embodiment, during the autonomous driving process, the safe parking control system also collects various information generated or received during the vehicle's operation in real time, and analyzes and judges this information. When certain information is deemed abnormal, it can be considered that the vehicle is currently experiencing an anomaly and is no longer suitable for continuing autonomous driving. The driver needs to manually stop the vehicle and conduct an inspection. At this time, the human-machine interface of the vehicle needs to output a level one warning message to prompt the driver to take over the vehicle.

[0130] In this embodiment, the Level 1 warning message can be generated based on abnormal information control to inform the driver of the cause of the current abnormality, so that relevant measures can be taken in a timely manner.

[0131] In one possible implementation, the abnormal information in step S201 above may include one or more of the following: abnormal vehicle status information, abnormal driver status information, abnormal driving environment information, and vehicle fault information. Of course, other abnormal information may also be included, without any limitation.

[0132] In this embodiment, abnormal vehicle status information can be abnormal vehicle operating parameters, such as certain parameters deviating or having errors compared to normal parameters during driving; abnormal driving environment information can be environmental information that is not suitable for autonomous driving, such as rainy or snowy weather, or mudslides; abnormal driver status information can be physical information that is not suitable for autonomous driving, such as a sudden illness of the driver; and vehicle fault information can be fault information that occurs during vehicle driving.

[0133] In this embodiment, abnormal vehicle status, abnormal driver status, abnormal information displayed in the driving environment, or vehicle malfunction are all factors that can prevent the vehicle from performing autonomous driving normally. Therefore, in order to improve the accuracy of vehicle driving status judgment and avoid incorrect judgment, a combination of one or more of the above information can be used as abnormal information.

[0134] S202: Determine parking instruction information based on the vehicle status information and road information.

[0135] In this embodiment, the specific implementation of step S202, which determines the parking instruction information based on the vehicle status information and road information corresponding to the vehicle, can be found in step S102 of embodiment one, and will not be repeated here.

[0136] S203: Control the human-machine interface to output parking instruction information to prompt the driver to park the vehicle according to the parking instruction information.

[0137] In this embodiment, after the human-machine interface controlling the vehicle outputs a level one warning message, if the driver still does not take over the vehicle, the output parking instruction message can continue to prompt the driver to take over the vehicle to avoid driving hazards.

[0138] S204: Within the preset duration of outputting the Level 1 warning message, determine whether the driver has taken over the vehicle.

[0139] In this embodiment, the specific implementation of step S204, which determines whether the driver has taken over the vehicle within the preset time of outputting the first-level warning information, can be found in step S104 of embodiment one, and will not be repeated here.

[0140] S205: When it is detected that the driver has not taken over the vehicle, the vehicle shall be stopped according to the stop instruction information.

[0141] In this embodiment, the specific implementation method of parking the vehicle according to the parking instruction information in step S205 above can be referred to step S105 of embodiment one, and will not be repeated here.

[0142] S206: After detecting that the vehicle has completed parking, send the abnormal information and the vehicle's location to the cloud server.

[0143] S207: After receiving the information reception signal from the cloud server, control the human-machine interface to output rescue selection information.

[0144] S208: If rescue information is received from the human-machine interface, or if no information is received from the human-machine interface within the third preset time period, a rescue request is sent to the cloud server. The rescue request is used to instruct the cloud server to determine the corresponding rescue vehicle based on the vehicle's location and send the abnormal information and the vehicle's location to the rescue vehicle.

[0145] In this embodiment, Figure 6 This is a diagram showing the display interface for rescue selection information according to another embodiment of this application, such as... Figure 6 As shown, after the driver receives the assistance selection information output by the human-machine interface, if the driver believes the problem is minor and can be resolved by themselves, they can select the "No" option, in which case the safe docking system will not send an assistance request to the cloud server. If the driver believes the problem cannot be resolved by themselves, they can select the "Yes" option, in which case the safe docking system will send an assistance request to the cloud server. If the driver is unable to make a selection due to injury or illness, the safe docking system will also send an assistance request to the cloud server.

[0146] In this embodiment, before outputting rescue selection information through the human-machine interface, it can be determined whether the vehicle and the cloud server can communicate normally. Rescue selection information is only output when normal communication is possible. This setting avoids resource waste and ensures that the rescue request can be sent normally. Furthermore, by controlling the human-machine interface to output rescue selection information, the interactivity between the vehicle, driver, and cloud server is increased, giving the driver the option to initiate rescue. The decision to send a rescue request to the cloud server can be based on the driver's feedback. If the driver believes the problem is minor and can be resolved independently, rescue is not required; if the driver believes the problem cannot be resolved independently or is unable to make a selection due to injury, rescue is necessary. This setting not only ensures the timeliness and necessity of rescue but also further avoids resource waste.

[0147] The vehicle control method of this application is described below with a specific embodiment.

[0148] Example 3

[0149] In one specific embodiment, when a vehicle is driving autonomously on a highway, its safe stopping system collects various information generated or received during the vehicle's journey in real time. At a certain moment, the safe stopping system detects abnormal parameters during the journey, preventing continued autonomous driving and necessitating a safe stop for the vehicle. The specific vehicle control process is as follows:

[0150] The first step is for the safe parking system to control the vehicle's human-machine interface to output a level one warning message based on the abnormal parameter information. The level one warning message includes: abnormal information and driver prompts in text form, a low-frequency beeping sound in voice form, and a yellow danger warning icon in graphic form.

[0151] The second step involves the safe parking system determining parking instructions based on the vehicle's status information and road conditions.

[0152] The third step involves the safe parking system controlling the human-machine interface to output parking instruction information.

[0153] Fourth, the safe parking system detects that the driver has not taken over the vehicle 10 seconds after outputting the first-level warning information. Then, based on the abnormal parameter information, it controls the vehicle's human-machine interface to output the second-level warning information. The second-level warning information includes: abnormal information and driver prompts in text form, high-frequency beeping in voice form, red danger warning icon in graphic form, and seat vibration and seat belt tightening in tactile form.

[0154] Fifth, the safe parking system detects that the driver has not taken over the vehicle 10 seconds after outputting the level 2 warning information, and then stops the vehicle according to the parking instruction information.

[0155] The sixth step is that after the safe parking system detects that the vehicle has completed parking, it sends the abnormal information and the vehicle's location to the cloud server.

[0156] Step 7: After receiving the information reception signal from the cloud server, the safe docking system controls the human-machine interface to output rescue selection information.

[0157] Step 8: If the safe parking system receives rescue information from the human-machine interface, or does not receive information from the human-machine interface within the third preset time period, it sends a rescue request to the cloud server. The rescue request is used to instruct the cloud server to determine the corresponding rescue vehicle based on the vehicle's location and send the abnormal information and vehicle location to the rescue vehicle.

[0158] Figure 7This is a schematic diagram of the structure of a vehicle control device according to an embodiment of this application, as shown below. Figure 7 As shown, the vehicle control device includes: a warning information output module 71, a parking instruction information determination module 72, a parking instruction information output module 73, a takeover judgment module 74, and a safe parking module 75. The warning information output module 71, upon acquiring abnormal information generated during vehicle operation, controls the vehicle's human-machine interface to output a first-level warning message, which prompts the driver to take over the vehicle. The parking instruction information determination module 72 determines the parking instruction information based on the vehicle's corresponding status information and road information. The parking instruction information output module 73 controls the human-machine interface to output the parking instruction information, prompting the driver to park the vehicle according to the parking instruction information. The takeover judgment module 74 determines whether the driver has taken over the vehicle within a preset time period for outputting the first-level warning information. The safe parking module 75 stops the vehicle according to the parking instruction information when it detects that the driver has not taken over the vehicle. In one embodiment, the specific functions of the vehicle control device can be described in steps S101-S105 of Embodiment 1, and will not be repeated here.

[0159] Figure 8 This is a schematic diagram of the structure of a vehicle control device according to an embodiment of this application, as shown below. Figure 8 As shown, the vehicle control device includes: a processor 101 and a memory 102 communicatively connected to the processor 101; the memory 102 stores computer execution instructions; the processor 101 executes the computer execution instructions stored in the memory 102 to implement the steps of the vehicle control method in the above-described method embodiments.

[0160] The vehicle control device can be standalone or part of the vehicle, and the processor 101 and memory 102 can utilize existing vehicle hardware.

[0161] In the aforementioned vehicle control device, the memory 102 and the processor 101 are electrically connected directly or indirectly to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines, such as a bus connection. The memory 102 stores computer execution instructions that implement data access control methods, including at least one software function module that can be stored in the memory 102 in the form of software or firmware. The processor 101 executes various functional applications and data processing by running the software programs and modules stored in the memory 102.

[0162] The memory 102 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 102 stores programs, which are executed by the processor 101 upon receiving execution instructions. Furthermore, the software programs and modules within the memory 102 may include an operating system, which may include various software components and / or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.) and can communicate with various hardware or software components to provide an operating environment for other software components.

[0163] Processor 101 can be an integrated circuit chip with signal processing capabilities. The aforementioned processor 101 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0164] An embodiment of this application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the steps of the various method embodiments of this application.

[0165] An embodiment of this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the various method embodiments of this application.

[0166] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

[0167] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A vehicle control method, characterized in that, include: After obtaining abnormal information generated during vehicle operation, the system controls the vehicle's human-machine interface to output a first-level warning message based on the abnormal information. The first-level warning message is used to prompt the driver of the vehicle to take over the vehicle. Parking instruction information is determined based on the vehicle status information and road information corresponding to the vehicle. The parking instruction information includes parking path information and parking hazard information. The parking hazard information is dynamically updated based on the distance area and speed range of vehicles traveling in the lane. The parking hazard information includes first parking information, second parking information, and third parking information, with different colors indicating different parking information. The first parking information is used to indicate that the distance between the vehicle and the vehicle in the lane is greater than or equal to a first preset distance. The third stopping information is used to indicate that the distance between vehicles traveling in the lane is less than or equal to a second preset distance, or it is used to indicate that the distance between vehicles traveling in the lane is between a first preset distance and a second preset distance, and the first current speed of the vehicle is greater than a speed threshold; the second stopping information is used to indicate that the distance between vehicles traveling in the lane is between a first preset distance and a second preset distance, and the first current speed of the vehicle is not greater than a speed threshold; the first preset distance is greater than the second preset distance; The human-machine interface is controlled to output the parking instruction information to prompt the driver to park the vehicle according to the parking instruction information; Within a preset time period for outputting a Level 1 warning message, determine whether the driver has taken over the vehicle; When it is detected that the driver has not taken over the vehicle, the vehicle is stopped according to the stop instruction information; The step of determining whether the vehicle stops according to the parking instruction information includes: whether the parking danger information in the parking instruction information is a third parking information; If so, the vehicle will not stop according to the stop instruction information until the stop danger information changes to the first stop information or the second stop information; If not, determine whether the parking danger information is the first parking information. If the parking danger information is the first parking information, park the vehicle according to the parking path information in the parking instruction information. If the parking danger information is not the first parking information, obtain the second vehicle position and second current speed of the vehicle with the smallest distance from the vehicle in the lane, and park the vehicle according to the parking path information, the second vehicle position, and the second current speed.

2. The method according to claim 1, characterized in that, The step of determining the parking instruction information based on the vehicle status information and road information specifically includes: The parking route information is determined based on the vehicle status information and road information corresponding to the vehicle. The lane through which the vehicle stops is determined based on the parking route information; The stopping danger information is determined based on the first vehicle position and the first current vehicle speed corresponding to the vehicle traveling in the lane, wherein the vehicle is located behind the vehicle in the direction of travel. The stopping instruction information is determined based on the stopping route information and the stopping hazard information.

3. The method according to claim 2, characterized in that, The step of determining the stopping hazard information based on the first vehicle position and the first current speed corresponding to the vehicles traveling in the lane specifically includes: Based on the position of the first vehicle corresponding to the vehicle traveling in the lane, it is determined whether there is a vehicle traveling within a first preset distance from the vehicle in the lane; When there are no vehicles within a first preset distance of the vehicle, the parking danger information is the first parking information; When a vehicle is traveling within a first preset distance from the vehicle, it is determined whether the traveling vehicle is within a second preset distance from the vehicle. If so, the stopping danger information is the third stopping information. If not, it is determined whether the first current speed of the traveling vehicle is greater than a speed threshold. If the first current speed is greater than the speed threshold, the stopping danger information is the third stopping information. If the first current speed is not greater than the speed threshold, the stopping danger information is the second stopping information, and the first preset distance is greater than the second preset distance.

4. The method according to any one of claims 1-3, characterized in that, The step of determining whether the driver takes over the vehicle within a preset time period for outputting a level-one warning message specifically includes: Within a first preset time period for outputting a Level 1 warning message, determine whether the driver has taken over the vehicle; When it is detected that the driver has not taken over the vehicle, the human-machine interface is controlled to output a secondary warning message according to the abnormal information. Within a second preset time period of outputting the secondary warning message, it is determined whether the driver has taken over the vehicle. The secondary warning message is used to prompt the driver of the vehicle to take over the vehicle. The first-level warning information includes text information, sound information, and graphic information, while the second-level warning information includes text information, sound information, graphic information, and tactile information.

5. The method according to claim 4, characterized in that, The method further includes: After detecting that the vehicle has completed parking, the abnormal information and the vehicle's location are sent to the cloud server; After receiving the information reception signal from the cloud server, the human-machine interface is controlled to output rescue selection information; If rescue information is received from the human-machine interface, or if no information is received from the human-machine interface within a third preset time period, a rescue request is sent to the cloud server. The rescue request is used to instruct the cloud server to determine the corresponding rescue vehicle based on the vehicle location and send the abnormal information and vehicle location to the rescue vehicle.

6. The method according to claim 5, characterized in that, The abnormal information includes one or more of the following: abnormal vehicle status information, abnormal driver status information, abnormal driving environment information, and vehicle malfunction information.

7. A vehicle control device, comprising: The warning information output module is used to control the human-machine interface of the vehicle to output a first-level warning information after obtaining abnormal information generated during the vehicle's operation. The first-level warning information is used to prompt the driver of the vehicle to take over the vehicle. The parking instruction information determination module is used to determine parking instruction information based on the vehicle status information and road information corresponding to the vehicle. The parking instruction information includes parking path information and parking hazard information. The parking hazard information is dynamically updated based on the distance area and speed range of vehicles traveling in the lane. The parking hazard information includes first parking information, second parking information, and third parking information, with different colors indicating different parking information. The first parking information is used to indicate that the distance between the vehicle and the vehicle in the lane is greater than or equal to a first preset distance. The third stopping information is used to indicate that the distance between vehicles traveling in the lane is less than or equal to a second preset distance, or it is used to indicate that the distance between vehicles traveling in the lane is between a first preset distance and a second preset distance, and the first current speed of the vehicle is greater than a speed threshold; the second stopping information is used to indicate that the distance between vehicles traveling in the lane is between a first preset distance and a second preset distance, and the first current speed of the vehicle is not greater than a speed threshold; the first preset distance is greater than the second preset distance; The parking instruction information output module is used to control the human-machine interface to output the parking instruction information to prompt the driver to park the vehicle according to the parking instruction information; The takeover judgment module is used to determine whether the driver has taken over the vehicle within a preset time period for outputting a level one warning message; A safe parking module is used to park the vehicle according to the parking instruction information when it is detected that the driver has not taken over the vehicle. The step of determining whether the vehicle stops according to the parking instruction information includes: whether the parking danger information in the parking instruction information is a third parking information; If so, the vehicle will not stop according to the stop instruction information until the stop danger information changes to the first stop information or the second stop information; If not, determine whether the parking danger information is the first parking information. If the parking danger information is the first parking information, park the vehicle according to the parking path information in the parking instruction information. If the parking danger information is not the first parking information, obtain the second vehicle position and second current speed of the vehicle with the smallest distance from the vehicle in the lane, and park the vehicle according to the parking path information, the second vehicle position, and the second current speed.

8. A vehicle control device, comprising a processor and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 6.

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