Vehicle Safety Control Method, Device, Equipment and Storage Medium

Abstract

The present invention belongs to the technical field of vehicle control, and discloses a vehicle safety control method, device, equipment and storage medium. The present invention monitors whether the assisted driving system calls the automatic lane change function; if the automatic lane change function is not called, it detects whether the driving state of the vehicle driver is a fatigue state; if the driving state is a fatigue state, it triggers a warning function; obtains the feedback information of the vehicle driver on the warning function, and controls the vehicle to perform corresponding operations according to the feedback information. Since when the assisted driving function is running and the automatic lane change function is not called, it continuously monitors the driving state of the vehicle driver, and when the vehicle driver is in a fatigue state, it triggers the corresponding warning function to wake up the vehicle driver from the fatigue state, avoid accidents and eliminate potential safety hazards.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to a vehicle safety control method, device, equipment and storage medium. Background Art

[0002] Nowadays, the Navigate on Autopilot (NOA, simply referred to as the assisted driving system) has been gradually put into use. However, the current NOA is not completely intelligent and requires manual monitoring. If the vehicle driver is distracted or fatigued during the use of NOA in a high-speed driving state, it is difficult for the vehicle driver to control NOA in a timely manner, which may lead to serious accidents and pose a safety hazard.

[0003] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide a vehicle safety control method, device, equipment and storage medium, aiming to solve the technical problem that the prior art does not detect whether the driver is distracted or fatigued when using NOA, resulting in potential safety hazards.

[0005] To achieve the above object, the present invention provides a vehicle safety control method, which includes the following steps:

[0006] Monitor whether the assisted driving system calls the automatic lane change function;

[0007] If the automatic lane change function is not called, monitor whether the driving state of the vehicle driver is a fatigued state;

[0008] If the driving state is a fatigued state, trigger the warning function;

[0009] Obtain the feedback information of the vehicle driver on the warning function, and control the vehicle to perform corresponding operations according to the feedback information.

[0010] Optionally, after the step of if the driving state is a fatigued state, trigger the warning function, it further includes:

[0011] If the feedback information of the vehicle driver on the warning function is not obtained within the first warning duration, increase the warning level and warning intensity of the warning function;

[0012] If the feedback information of the vehicle driver is not obtained within the second warning duration, inhibit the automatic lane change function and perform an emergency stop, where the second warning duration is greater than the first warning duration;

[0013] When successfully docking, turn on the hazard lights and obtain the vehicle position of the vehicle.

[0014] Request assistance based on the vehicle position.

[0015] Optionally, the step of performing an emergency stop further includes:

[0016] Obtain the driving distance to the highway service area.

[0017] If the driving distance is less than the first preset distance threshold, inhibit the automatic lane change function and drive to the highway service area for docking in a single-lane driving mode.

[0018] Optionally, after the step of obtaining the driving distance to the highway service area, it further includes:

[0019] If the driving distance is greater than or equal to the first preset distance threshold, obtain the interval distance to the highway exit.

[0020] If the interval distance is less than the second preset distance threshold, inhibit the automatic lane change function and drive to the open space at the highway exit for docking in a single-lane driving mode.

[0021] Optionally, after the step of if the driving distance is greater than or equal to the first preset distance threshold, obtain the interval distance to the highway exit, it further includes:

[0022] If the interval distance is greater than or equal to the second preset distance threshold, inhibit the automatic lane change function of the vehicle, prohibit the vehicle from changing lanes to the fast lane, and trigger the emergency lane change function to dock to the emergency lane.

[0023] Optionally, when if the driving distance is less than the first preset distance threshold, inhibit the automatic lane change function or if the interval distance is less than the second preset distance threshold, inhibit the automatic lane change function, if there is an emergency avoidance event around the vehicle, then activate the automatic lane change function.

[0024] Optionally, before the step of monitoring whether the assisted driving system calls the automatic lane change function, it further includes:

[0025] Monitor the vehicle driving speed.

[0026] When the vehicle driving speed is greater than the preset speed threshold and the continuous duration reaches the preset duration threshold, detect whether the driving state of the vehicle driver is a waking state.

[0027] If the driving state is a waking state, control the assisted driving system to start.

[0028] Optionally, after the step of monitoring whether the assisted driving system calls the automatic lane change function, the following steps are further included:

[0029] If the automatic lane change function is called, it is detected whether the driving state of the vehicle driver is a waking state;

[0030] If the driving state is a waking state, the automatic lane change function is triggered to control the vehicle to change lanes.

[0031] In addition, to achieve the above object, the present invention further provides a vehicle safety control device, which includes the following modules:

[0032] A system monitoring module, configured to monitor whether the assisted driving system calls the automatic lane change function;

[0033] A state monitoring module, configured to monitor whether the driving state of the vehicle driver is a fatigued state if the automatic lane change function is not called;

[0034] A warning trigger module, configured to trigger a warning function if the driving state is a fatigued state;

[0035] An operation response module, configured to obtain feedback information of the vehicle driver on the warning function and control the vehicle to perform corresponding operations according to the feedback information.

[0036] In addition, to achieve the above object, the present invention further provides a vehicle safety control device, which includes: a processor, a memory, and a vehicle safety control program stored on the memory and executable on the processor. When the vehicle safety control program is executed by the processor, the steps of the vehicle safety control method described above are implemented.

[0037] In addition, to achieve the above object, the present invention further provides a computer-readable storage medium, on which a vehicle safety control program is stored. When the vehicle safety control program is executed, the steps of the vehicle safety control method described above are implemented.

[0038] The present invention monitors whether the assisted driving system calls the automatic lane change function; if the automatic lane change function is not called, it detects whether the driving state of the vehicle driver is a fatigued state; if the driving state is a fatigued state, it triggers a warning function; obtains feedback information of the vehicle driver on the warning function, and controls the vehicle to perform corresponding operations according to the feedback information. Since it continuously monitors the driving state of the vehicle driver when the assisted driving function is running and the automatic lane change function is not called, and triggers a corresponding warning function when the vehicle driver is in a fatigued state to wake up the vehicle driver from the fatigued state, accidents are avoided and potential safety hazards are eliminated. Description of the Drawings

[0039] Figure 1 It is a schematic structural diagram of an electronic device in the hardware operating environment involved in the solution of the embodiment of the present invention;

[0040] Figure 2 It is a schematic flowchart of the first embodiment of the vehicle safety control method of the present invention;

[0041] Figure 3 It is a schematic flowchart of the second embodiment of the vehicle safety control method of the present invention;

[0042] Figure 4 It is a schematic flowchart of the third embodiment of the vehicle safety control method of the present invention;

[0043] Figure 5 It is a schematic execution flowchart of an embodiment of the vehicle safety control method of the present invention;

[0044] Figure 6 It is a structural block diagram of the first embodiment of the vehicle safety control device of the present invention.

[0045] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiment

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

[0047] Refer to Figure 1 , Figure 1 It is a schematic structural diagram of a vehicle safety control device in the hardware operating environment involved in the solution of the embodiment of the present invention.

[0048] Such as Figure 1As shown in the figure, the electronic device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (WI-FI) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0049] Those skilled in the art can understand that Figure 1 the structure shown in the figure does not constitute a limitation on the electronic device, and it may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0050] As Figure 1 shown, the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle safety control program.

[0051] In Figure 1 the electronic device shown in the figure, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention may be provided in a vehicle safety control device. The electronic device calls the vehicle safety control program stored in the memory 1005 through the processor 1001 and executes the vehicle safety control method provided by the embodiments of the present invention.

[0052] The embodiments of the present invention provide a vehicle safety control method. Referring to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of a vehicle safety control method of the present invention.

[0053] In this embodiment, the vehicle safety control method includes the following steps:

[0054] Step S10: Monitor whether the assisted driving system calls the automatic lane change function.

[0055] It should be noted that the execution subject of this embodiment can be the vehicle safety control device. Of course, the execution subject of this embodiment can also be the vehicle itself. The vehicle safety control device can be a controller that controls the braking system in the vehicle. For example, the main controller in the vehicle, or it can be other devices that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment and the following embodiments, the vehicle safety control device is taken as an example to illustrate the vehicle safety control method of the present invention.

[0056] It should be noted that when the assisted driving (NOA) function is performing assisted driving, it will plan a corresponding driving route according to the starting position when the vehicle departs and the destination preset by the user and drive along it. During the driving process, it is inevitable that lane changes are required. Due to the complexity of the road, changing lanes on the road itself is an operation with relatively high risk and is prone to accidents. Therefore, the real-time lane change function needs to be monitored keyly, and it can be monitored in real time whether the assisted driving system attempts to call the automatic lane change function.

[0057] In specific implementation, it can be determined whether the assisted driving system calls the automatic lane change function by detecting the function call and / or instruction generation status in the assisted driving system. For example: Suppose interface A controls the automatic lane change function in the assisted driving system. At this time, it can be monitored in real time whether interface A is called. If it is called, it can be determined that the assisted driving system is detected to call the automatic lane change function.

[0058] In actual use, if it is detected that the assisted driving system calls the automatic lane change function, the vehicle safety control device can also control a corresponding prompt icon to be displayed on the vehicle's instrument panel and play a corresponding voice prompt, so that the vehicle driver can clearly know that the assisted driving system has the intention of automatic lane change.

[0059] Furthermore, in order to ensure the safety during the vehicle driving process and avoid accidents, after step S10 in this embodiment, it can further include:

[0060] If the automatic lane change function is called, it is detected whether the driving state of the vehicle driver is a sober state;

[0061] If the driving state is a sober state, the automatic lane change function is triggered to control the vehicle to change lanes.

[0062] In specific implementation, the driving state can be divided into an initialization state, a fatigue state (which can also be called a non-sober state), and a sober state. Among them, the initialization state is an intermediate state between the fatigue state and the sober state.

[0063] Among them, the DMS system installed in the vehicle can determine the specific driving state of the vehicle driver by collecting the head movement state, eye closing state, and line-of-sight movement state of the vehicle driver. The DMS continuously monitors the driving state of the vehicle driver and can push the monitored driving state to the NOA and vehicle safety control equipment.

[0064] It should be noted that the automatic lane change function is an operation with relatively high risk and is prone to accidents. It is necessary to ensure that the vehicle driver can operate in a timely manner before execution. Therefore, in order to determine whether the vehicle driver can control the NOA in a timely manner, the DMS (Dealer Management System) system can be called to obtain the driving state of the vehicle driver at the current moment and detect whether the driving state is a wakeful state.

[0065] It can be understood that if the driving state of the vehicle driver is a wakeful state, it means that the vehicle driver can normally monitor the NOA at this time, can control the NOA in a timely manner, and does not need to inhibit the NOA from calling the automatic lane change function. Therefore, the automatic lane change function can be triggered to control the vehicle to change lanes.

[0066] Step S20: If the automatic lane change function is not called, monitor whether the driving state of the vehicle driver is a fatigued state.

[0067] It should be noted that if the assisted driving system does not call the automatic lane change function, it means that the assisted driving system is not performing a high-risk operation at this time. However, if the vehicle driver is in a fatigued driving state at this time, accidents may still occur and there are safety risks. Therefore, it is possible to detect whether the driving state of the vehicle driver is a fatigued state.

[0068] Step S30: If the driving state is a fatigued state, trigger the warning function.

[0069] It should be noted that if the driving state of the vehicle driver is a fatigued state and the NOA is in the on state at this time, if the vehicle driver continues to maintain a fatigued state, accidents may occur. In order to wake up the vehicle driver from the fatigued state, the warning function can be triggered.

[0070] In specific implementation, since the DMS system continuously detects, when it detects that the driving state of the vehicle driver is a fatigued state, the vehicle driver may be in a mild fatigued state, may just be distracted or close eyes for a short time. At this time, a warning function with a lower intensity can be adopted to prompt the driver. For example, make the icon on the instrument panel flash and play the corresponding prompt voice for prompting.

[0071] Step S40: Obtain the feedback information of the vehicle driver on the warning function, and control the vehicle to perform corresponding operations according to the feedback information.

[0072] It can be understood that after the warning function is activated, if the vehicle driver is awakened, he will recover from the fatigued state to the awake state. At this time, the vehicle driver can perform operations in the vehicle, thereby sending the feedback information on the warning function to the vehicle safety control device. When the vehicle safety control device receives the feedback information, it can confirm that the vehicle driver has regained consciousness. At this time, the warning function can be terminated, and then the driving can be continued.

[0073] In this embodiment, by monitoring whether the assisted driving system calls the automatic lane change function; if the automatic lane change function is not called, detecting whether the driving state of the vehicle driver is a fatigued state; if the driving state is a fatigued state, triggering the warning function; obtaining the feedback information of the vehicle driver on the warning function, and controlling the vehicle to perform corresponding operations according to the feedback information. Since when the assisted driving function is running and the automatic lane change function is not called, the driving state of the vehicle driver is continuously monitored, and when the vehicle driver is in a fatigued state, the corresponding warning function is triggered to wake up the vehicle driver from the fatigued state, avoid accidents, and eliminate potential safety hazards.

[0074] Reference Figure 3 , Figure 3 is a schematic flowchart of the second embodiment of a vehicle safety control method of the present invention.

[0075] Based on the above first embodiment, after the step S30 of this embodiment of the vehicle safety control method, it further includes:

[0076] Step S40': If the feedback information of the vehicle driver on the warning function is not obtained within the first warning duration, increase the warning level and warning intensity of the warning function.

[0077] It should be noted that the first warning duration can be pre-set by the management personnel of the vehicle safety control device according to actual needs. For example, the first warning duration is set to 5 seconds.

[0078] In specific implementation, if the feedback information of the vehicle driver on the warning function is not obtained within the first warning duration, it means that the vehicle driver may be overly fatigued. At this time, it can be determined that the vehicle driver is in a severely fatigued state, and the warning function with a relatively low intensity is no longer sufficient to wake up the vehicle driver. Therefore, the warning level and warning intensity of the warning function can be increased.

[0079] Among them, the warning level for enhancing the warning function can be to call a warning function with a higher intensity, such as controlling the steering wheel to vibrate and controlling the seat belt to tighten for early warning. And the warning intensity for enhancing the warning function can be at least one of increasing the flashing frequency of the dashboard icon, increasing the volume of the prompt voice, increasing the amplitude of the steering wheel vibration, and increasing the amplitude of the seat belt tightening. Moreover, the warning intensity for enhancing the warning function can gradually increase the warning intensity of the warning function over time.

[0080] In actual use, since the vehicle driver has fallen into a relatively heavy fatigue state, it can be determined at this time that the driver is unable to monitor the operation of NOA, and high-risk operations of NOA can be prohibited. Therefore, the automatic lane change function can be inhibited. Except in the case of needing to urgently avoid obstacles, NOA is prohibited from calling the automatic lane change function, and NOA is made to maintain the single-lane driving mode.

[0081] Step S50': If no feedback information of the vehicle driver is obtained within the second warning duration, the automatic lane change function is inhibited and an emergency stop is performed. The second warning duration is greater than the first warning duration.

[0082] It should be noted that the second warning duration can be pre-set by the management personnel of the vehicle safety control device. The second warning duration is greater than the first warning duration. For example, assuming the first warning duration is 5 seconds and the second warning duration is 10 seconds, if no feedback information is obtained 5 seconds after the warning function is triggered, the warning level and warning intensity of the warning function can be increased. And if no feedback information is still obtained 5 seconds after increasing the warning level and warning intensity, an emergency stop can be performed.

[0083] In specific implementation, if the warning function has been running for the second warning duration and the vehicle driver still does not operate, it means that even if a warning function with a higher intensity is run and the warning intensity is increased, the vehicle driver still cannot be awakened. It means that the vehicle driver has fallen into an extremely fatigued state, and may even be in a coma due to diseases or other reasons. Emergency avoidance is required. Therefore, an emergency stop is needed.

[0084] Further, in order to perform reasonable avoidance, the step of performing an emergency stop in this embodiment may include:

[0085] Obtain the driving distance to the highway service area;

[0086] If the driving distance is less than the first preset distance threshold, the automatic lane change function is inhibited. Except for emergency obstacle avoidance, the automatic lane change function is prohibited from being called, and it is driven to the highway service area for parking in the single-lane driving mode.

[0087] It should be noted that the first preset distance threshold can be set in advance by the management personnel of the vehicle safety control device. Obtaining the driving distance between highway service areas can be achieved by searching for the nearest highway service area around through a navigation software, planning the driving route to enter the highway service area, and determining the driving distance required to actually enter the highway service area, so as to determine the driving distance to the highway service area.

[0088] It can be understood that if the driving distance is less than the first preset distance threshold, it means that the vehicle is currently relatively close to a certain highway service area. The highway service area has a high safety level and there are corresponding personnel for management, which is convenient for rescue. Since the risk of the automatic lane change function is relatively high, at this time, the automatic lane change function can be inhibited to make NOA maintain the single-lane driving mode, and the vehicle is controlled to drive into the highway service area for parking.

[0089] Furthermore, in order to ensure that in the case where there is no relatively close highway service area, it is still possible to avoid risks as safely as possible. After the step of obtaining the driving distance to the highway service area in this embodiment, it may further include:

[0090] If the driving distance is greater than or equal to the first preset distance threshold, obtain the interval distance to the highway exit;

[0091] If the interval distance is less than the second preset distance threshold, inhibit the automatic lane change function and drive to the open space at the highway exit in the single-lane driving mode for parking. The second preset distance threshold is less than the first preset distance threshold.

[0092] It should be noted that the second preset distance threshold can be set in advance by the management personnel of the vehicle safety control device.

[0093] It can be understood that if the driving distance is greater than or equal to the first preset distance threshold, it means that the distances between the surrounding highway service areas and the vehicle are all relatively far. At this time, the driving distance required to continue driving to the highway service area is too long, and it is difficult to avoid risks on the way. Therefore, it is possible to consider an area with a slightly lower safety level for emergency parking. There are relevant staff for maintenance at the highway exit, and there is an open area at the highway exit. Moreover, when the vehicle reaches the highway exit, it will decelerate. Parking emergently at the highway exit has a safety level second only to that of the highway service area. Therefore, the interval distance between the vehicle and the nearest highway exit around can be obtained.

[0094] In actual use, if the interval distance is less than the second preset distance threshold, it means that there is a nearby highway exit at this time. Since the automatic lane change function has a higher risk, the automatic lane change function can be suppressed at this time. Except for the situation where there is a need to avoid obstacles urgently, NOA is prohibited from calling the automatic lane change function, so that NOA maintains the single-lane driving mode and controls the vehicle to drive to an open area at the highway exit for parking.

[0095] Furthermore, in order to ensure safe parking as much as possible when there is no relatively close expressway service area or expressway exit, if the driving distance is greater than or equal to the first preset distance threshold, after the step of obtaining the interval distance to the expressway exit in this embodiment, the following may also be included:

[0096] If the interval distance is greater than or equal to a second preset distance threshold, the automatic lane change function of the vehicle is suppressed, the vehicle is prohibited from changing lanes to the fast lane, and the emergency lane change function is triggered to stop in the emergency lane.

[0097] It should be noted that if the interval distance is greater than or equal to the second preset distance threshold, it means that there is no high-speed exit that is relatively close around the vehicle.

[0098] It is understandable that emergency lanes are generally set up on highways. Vehicles are generally prohibited from driving in emergency lanes. There are fewer vehicles on these lanes. Therefore, if there is no nearby highway service area or highway exit, you can consider parking your vehicle in the emergency lane.

[0099] In actual use, since the vehicle driver cannot monitor the operation of NOA at this time, and the risk of the automatic lane change function is high, especially when changing lanes to the fast lane, the automatic lane change function can be suppressed, prohibiting the vehicle from changing lanes to the fast lane, and forcing NOA to maintain single-lane driving mode, and controlling the vehicle to drive to the emergency lane for parking.

[0100] Furthermore, when the automatic lane change function of the vehicle is about to be suppressed or has been suppressed, if an emergency avoidance event occurs around the vehicle, the vehicle is controlled to pause or release the suppression of the automatic lane change function of the vehicle, and the automatic lane change function is activated to respond to the emergency avoidance event. The emergency avoidance event can be an emergency avoidance event that the vehicle needs to respond to when the surrounding objects collide with the vehicle, which is obtained by the vehicle sensor or vehicle networking technology, and is determined by the vehicle or server or cloud computing. It can also be an emergency avoidance event triggered by the user.

[0101] Step S60': upon successful parking, turning on the double flashes and obtaining the vehicle position of the vehicle.

[0102] In actual use, when an emergency stop is successfully performed, the vehicle can also be controlled to turn on the hazard lights to alert other vehicles and prevent other vehicles from colliding with the vehicle.

[0103] Since the driver may have fallen into a coma due to illness or other reasons, it is also possible to send a distress signal. To facilitate the rescue personnel to identify the position of the vehicle driver for rescue, the vehicle position of the vehicle can be obtained.

[0104] Among them, obtaining the vehicle position of the vehicle can be to call the positioning function of the vehicle, and position the vehicle through the positioning function to obtain the vehicle position.

[0105] Step S70': Send a distress signal based on the vehicle position.

[0106] In a specific implementation, sending a distress signal based on the vehicle position can be to generate an SOS distress signal according to the vehicle position and broadcast it to the surrounding area, as well as automatically call the alarm phone and other operations.

[0107] If the vehicle supports the HMI function, the vehicle position can also be uploaded, contact the HMI distress terminal, and send the HMI voice pre-recorded by the vehicle driver to the distress terminal for rescue.

[0108] In this embodiment, if the feedback information of the vehicle driver on the warning function is not obtained within the first warning duration, the warning level and warning intensity of the warning function are increased; if the feedback information of the vehicle driver is not obtained within the second warning duration, the automatic lane change function is inhibited and an emergency stop is performed, where the second warning duration is greater than the first warning duration; when the stop is successful, the hazard lights are turned on, and the vehicle position of the vehicle is obtained; a distress signal is sent based on the vehicle position. Since the warning level and warning intensity are increased when the feedback information of the vehicle driver cannot be obtained within a certain time, the vehicle driver is awakened as much as possible. And after increasing the warning level and warning intensity, if the vehicle driver still cannot be awakened, the functions of the assisted driving system are also restricted to prevent it from performing high-risk operations. And then an emergency stop and a distress signal are sent to avoid accidents as much as possible and ensure that the abnormal state of the vehicle driver is quickly discovered for easy rescue.

[0109] Reference Figure 4 , Figure 4 is a schematic flowchart of the third embodiment of a vehicle safety control method according to the present invention.

[0110] Based on the above first embodiment, before the step S10 of this embodiment of the vehicle safety control method, it further includes:

[0111] Step S01: Monitor the vehicle driving speed.

[0112] It should be noted that a speed sensor can be pre-installed on the vehicle. Monitoring the vehicle's driving speed can be achieved by periodically collecting the vehicle's driving speed through the speed sensor. For example, the vehicle's driving speed is collected once every 1 second through the speed sensor.

[0113] Step S02: When the vehicle's driving speed is greater than the preset speed threshold and the continuous duration reaches the preset duration threshold, detect whether the driving state of the vehicle driver is the waking state.

[0114] It should be noted that both the preset speed threshold and the preset duration threshold can be pre-set by the management personnel of the vehicle safety control device according to actual needs. For example, the preset speed threshold is set to 20 km / h and the preset duration threshold is set to 1 minute. If the vehicle's driving speed is greater than the preset speed threshold and the continuous duration reaches the preset duration threshold, it means that the vehicle driver is driving long distances at this time, and NOA can be considered to be turned on to assist the vehicle driver in driving and improve the driving experience of the vehicle driver.

[0115] However, the current NOA function cannot operate independently while ensuring driving safety and requires the vehicle driver to monitor. Therefore, before turning on NOA, it is necessary to determine whether the driver is in a waking state. At this time, the driving state of the vehicle driver at the current moment can be obtained from the DMS, and it is detected whether the driving state of the vehicle driver is the waking state.

[0116] Step S03: If the driving state is the waking state, control the auxiliary driving system to start.

[0117] It can be understood that if the driving state of the vehicle driver is the waking state, it means that the vehicle driver can normally monitor NOA at this time. Therefore, NOA can be controlled to start to assist the vehicle driver in driving.

[0118] In a specific implementation, for the sake of easy understanding, the vehicle safety control method of the present invention is now described in conjunction with Figure 5 This is not a limitation to the present solution. Figure 5 It is a schematic diagram of the execution process of the vehicle safety control method. Figure 5 In it, S0 - S5 are driving states, and their definitions are as follows:

[0119] S0: Initialization state. The intermediate state from a non-waking state (S2 / S3 / S4) to a waking state (S1). For example, from S2 to when the driver has opened his eyes for 2 s but has not reached the monitoring duration (30 s) defined as waking.

[0120] S1: Alert state. For example, looking straight ahead at the road, or naturally looking at the left and right rearview mirrors and the instrument panel when changing lanes.

[0121] S1-1: Forward Focused Mode (Dull or Daze). The line of sight always looks straight ahead without turning left or right, similar to being in a daze.

[0122] S2: Mild Fatigue / Distraction (Drowsy / Light distraction). For example, closing eyes for a short time or the line of sight (head) deviating for a short time.

[0123] S3: Severe Fatigue / Distraction (Sleepy / Heavy distraction). For example, closing eyes for a relatively long time or the line of sight (head) deviating for a relatively long time.

[0124] S4: Driver Unresponsive. For example, the driver is not in position, and the camera cannot detect the driver's head features for a long time. The driver may be in a coma due to illness.

[0125] S5: DMS System Failure. For example, camera occlusion / camera signal loss / ECU operation crash, etc.

[0126] Figure 5 The specific execution process is as follows:

[0127] When the vehicle starts, it enters the ready-to-start NOA state (i.e., ready to enter HANP). At this time, if the vehicle speed is greater than the preset speed threshold and the duration reaches the preset duration threshold, the DMS system monitors whether the driving state of the vehicle driver is S1; if it is S1, it enters NOA (i.e., starts NOA), and then judges whether NOA has a lane-changing intention (i.e., whether to call the automatic lane-changing function);

[0128] If there is a lane-changing intention, the vehicle will give a prompt and further detect whether the driving state of the vehicle driver is S1-1. If so, it means that the driver has not responded to the prompt. At this time, the driver may be distracted, and the lane change can be not performed and the NOA operation can be continued; if not, it means that the driver is still awake and the lane change can be executed.

[0129] If there is no lane-changing intention, the driving state of the vehicle driver can be judged;

[0130] If the driving state is S0, S1 or S5, the NOA operation can be continued;

[0131] If the driving state is S2, a first-level prompt can be given. If the first-level prompt lasts for the first warning duration and the driver still does not give feedback, the driving state can be determined to be S3. At this time, the first-level and second-level prompts can be triggered and the timing continues. If the duration reaches the second warning duration and the driver still does not give feedback, the driving state can be determined to be S4. At this time, the first-level and second-level prompts can be continuously triggered and the vehicle is arranged to make an emergency stop (stop at a service area, highway entrance or emergency lane). After the stop is successful (the vehicle speed is less than or equal to 0), a rescue operation is carried out.

[0132] In this embodiment, the vehicle driving speed is monitored; when the vehicle driving speed is greater than a preset speed threshold and the continuous duration reaches a preset duration threshold, it is detected whether the driving state of the vehicle driver is a waking state; if the driving state is a waking state, the assisted driving system is controlled to start. Since the start judgment of the assisted driving system can be quickly triggered when the vehicle driving speed is greater than the preset speed threshold and the continuous duration reaches the preset duration threshold, and the assisted driving system is started when the vehicle driver is in a waking state to assist the vehicle driver in driving the vehicle, the driving experience of the vehicle driver is improved while ensuring safety.

[0133] In addition, an embodiment of the present invention further provides a storage medium, on which a vehicle safety control program is stored. When the vehicle safety control program is executed by a processor, the steps of the vehicle safety control method described above are implemented.

[0134] Refer to Figure 6 , Figure 6 which is the structural block diagram of the first embodiment of the vehicle safety control device of the present invention.

[0135] As Figure 6 shown, the vehicle safety control device proposed by the embodiment of the present invention includes:

[0136] A system monitoring module 10, configured to monitor whether the assisted driving system calls the automatic lane change function;

[0137] A state monitoring module 20, configured to monitor whether the driving state of the vehicle driver is a fatigue state if the automatic lane change function is not called;

[0138] A warning trigger module 30, configured to trigger a warning function if the driving state is a fatigue state;

[0139] An operation response module 40, configured to obtain the feedback information of the vehicle driver on the warning function and control the vehicle to perform corresponding operations according to the feedback information.

[0140] In this embodiment, it is monitored whether the assisted driving system calls the automatic lane change function; if the automatic lane change function is not called, it is detected whether the driving state of the vehicle driver is a fatigued state; if the driving state is a fatigued state, the warning function is triggered; the feedback information of the vehicle driver on the warning function is obtained, and the vehicle is controlled to perform corresponding operations according to the feedback information. Since the driving state of the vehicle driver is continuously monitored when the assisted driving function is running and the automatic lane change function is not called, and the corresponding warning function is triggered when the vehicle driver is in a fatigued state to wake up the vehicle driver from the fatigued state, accidents are avoided and potential safety hazards are eliminated.

[0141] Further, the warning trigger module 30 is further configured to, if no feedback information of the vehicle driver on the warning function is obtained within the first warning duration, increase the warning level and warning intensity of the warning function; if no feedback information of the vehicle driver is obtained within the second warning duration, inhibit the automatic lane change function and perform an emergency stop, where the second warning duration is greater than the first warning duration; when the stop is successful, turn on the hazard lights and obtain the vehicle position of the vehicle; send a distress signal based on the vehicle position.

[0142] Further, the warning trigger module 30 is further configured to obtain the driving distance to the highway service area; if the driving distance is less than the first preset distance threshold, inhibit the automatic lane change function and drive to the highway service area for a stop in a single-lane driving mode.

[0143] Further, the warning trigger module 30 is further configured to, if the driving distance is greater than or equal to the first preset distance threshold, obtain the distance to the highway exit; if the distance is less than the second preset distance threshold, inhibit the automatic lane change function and drive to an open area at the highway exit for a stop, where the second preset distance threshold is less than the first preset distance threshold.

[0144] Further, the warning trigger module 30 is further configured to, if the distance is greater than or equal to the second preset distance threshold, inhibit the automatic lane change function of the vehicle, prohibit the vehicle from changing lanes to the fast lane, and trigger the emergency lane change function to stop in the emergency lane.

[0145] Further, the warning trigger module 30 is further configured to, when the automatic lane change function is inhibited if the driving distance is less than the first preset distance threshold or the automatic lane change function is inhibited if the distance is less than the second preset distance threshold, if there is an emergency avoidance event around the vehicle, start the automatic lane change function.

[0146] Further, the system monitoring module 10 is further configured to monitor the vehicle driving speed; when the vehicle driving speed is greater than a preset speed threshold and the duration reaches a preset duration threshold, detect whether the driving state of the vehicle driver is a sober state; if the driving state is a sober state, control the auxiliary driving system to start.

[0147] Further, when the system monitoring module 10 calls the automatic lane change function, it is further configured to detect whether the driving state of the vehicle driver is a sober state; if the driving state is a sober state, trigger the automatic lane change function and control the vehicle to change lanes.

[0148] It should be understood that the above is only an example and does not impose any limitation on the technical solution of the present invention. In specific applications, those skilled in the art can set according to needs, and the present invention does not limit this.

[0149] It should be noted that the above-described working process is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no limitation is imposed here.

[0150] In addition, for technical details not described in detail in this embodiment, reference can be made to the vehicle safety control method provided in any embodiment of the present invention, which will not be elaborated here.

[0151] In addition, it should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0152] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0153] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0154] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A vehicle safety control method, characterized in that, The vehicle safety control method includes the following steps: Monitor whether the assisted driving system calls the automatic lane change function; If the automatic lane change function is not called, monitor whether the driving state of the vehicle driver is a fatigued state; If the driving state is a fatigued state, trigger the warning function; Obtain the feedback information of the vehicle driver on the warning function, and control the vehicle to perform corresponding operations according to the feedback information; Wherein, the driving state is comprehensively determined based on the head movement state, eye closure state, and line-of-sight movement state of the vehicle driver; The driving state includes an initialization state, a fatigued state, and a sober state; the initialization state is an intermediate state between the fatigued state and the non-sober state; the sober state further includes a forward concentration mode; Wherein, after the step of monitoring whether the assisted driving system calls the automatic lane change function, it further includes: If the automatic lane change function is called, detect whether the driving state of the vehicle driver is a sober state; If the driving state is a sober state, issue a prompt to detect whether the driving state of the vehicle driver is the forward concentration mode; If the driver does not respond to the prompt, the automatic lane change function is not triggered; If the driver responds to the prompt, trigger the automatic lane change function and control the vehicle to change lanes.

2. The vehicle safety control method according to claim 1, characterized in that, After the step of if the driving state is a fatigued state, trigger the warning function, it further includes: If the feedback information of the vehicle driver on the warning function is not obtained within the first warning duration, increase the warning level and warning intensity of the warning function; If the feedback information of the vehicle driver is not obtained within the second warning duration, inhibit the automatic lane change function and perform an emergency stop, where the second warning duration is greater than the first warning duration; When the stop is successful, turn on the hazard lights and obtain the vehicle position of the vehicle; Send a distress signal based on the vehicle position.

3. The vehicle safety control method according to claim 2, wherein, The step of performing the emergency stop further includes: Obtain the driving distance to the highway service area; If the driving distance is less than the first preset distance threshold, inhibit the automatic lane change function and drive to the highway service area for a stop in a single-lane driving mode.

4. The vehicle safety control method according to claim 3, characterized in that, After the step of obtaining the driving distance to the highway service area, it further includes: If the driving distance is greater than or equal to the first preset distance threshold, obtain the interval distance to the highway exit; If the interval distance is less than the second preset distance threshold, inhibit the automatic lane change function and drive to an open area at the highway exit for a stop in a single-lane driving mode, where the second preset distance threshold is less than the first preset distance threshold.

5. The vehicle safety control method according to claim 4, characterized in that, After the step of if the driving distance is greater than or equal to the first preset distance threshold, obtain the interval distance to the highway exit, it further includes: If the interval distance is greater than or equal to the second preset distance threshold, inhibit the automatic lane change function of the vehicle, prohibit the vehicle from changing lanes to the fast lane, and trigger the emergency lane change function to stop at the emergency lane.

6. The vehicle safety control method according to any one of claims 3-5, characterized in that When the driving distance is less than the first preset distance threshold and the automatic lane change function is inhibited, or when the interval distance is less than the second preset distance threshold and the automatic lane change function is inhibited, if there is an emergency avoidance event around the vehicle, the automatic lane change function is activated.

7. The vehicle safety control method according to claim 1, characterized in that, Before the step of monitoring whether the assisted driving system calls the automatic lane change function, the following steps are further included: Monitoring the driving speed of the vehicle; When the driving speed of the vehicle is greater than the preset speed threshold and the duration reaches the preset duration threshold, detecting whether the driving state of the vehicle driver is a sober state; If the driving state is a sober state, controlling the assisted driving system to start.

8. A vehicle safety control device, characterized in that, The vehicle safety control device includes the following modules: A system monitoring module, configured to monitor whether the assisted driving system calls the automatic lane change function; A state monitoring module, configured to monitor whether the driving state of the vehicle driver is a fatigued state if the automatic lane change function is not called; A warning trigger module, configured to trigger a warning function if the driving state is a fatigued state; An operation response module, configured to obtain the feedback information of the vehicle driver on the warning function and control the vehicle to perform corresponding operations according to the feedback information; Wherein, the driving state is comprehensively determined based on the head movement state, the eye closing state, and the line-of-sight movement state of the vehicle driver; The driving state includes an initialization state, a fatigued state, and a sober state; the initialization state is an intermediate state between the fatigued state and the non-sober state; the sober state further includes a forward concentration mode; The system monitoring module is further configured to, if the automatic lane change function is called, detect whether the driving state of the vehicle driver is a sober state; if the driving state is a sober state, issue a prompt to detect whether the driving state of the vehicle driver is in the forward concentration mode; if the driver does not respond to the prompt, the automatic lane change function is not triggered; if the driver responds to the prompt, the automatic lane change function is triggered, and the vehicle is controlled to change lanes.

9. A vehicle safety control device, characterized in that, The vehicle safety control device includes: a processor, a memory, and a vehicle safety control program stored on the memory and executable on the processor. When the vehicle safety control program is executed by the processor, the steps of the vehicle safety control method according to any one of claims 1-7 are implemented.

10. A computer-readable storage medium, characterized in that, A vehicle safety control program is stored on the computer-readable storage medium. When the vehicle safety control program is executed, the steps of the vehicle safety control method according to any one of claims 1-7 are implemented.

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